~

src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java

@@ -13,6 +13,7 @@ import com.my.graphiteDigesterBg.move.MoveDoorOpen;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import java.util.List;
 @Task(name="StartReset")
 public class TaskStartReset extends DiTaskBase {
     // 是否需要放置异常处理试管架
@@ -110,7 +111,45 @@ public class TaskStartReset extends DiTaskBase {
             }
         }
 
-        // @TODO : 这里要放置将酸液充满试管 ~~~
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
+
+        this.setProgressMessage("设备初始化 : 初始化加液管路");
+        MoveDoorOpen.execute(this.getDevice());
+        DiMdbNotification.taskAction(this, "TaskStartResetPumpPipeSetupTubeRankPutIn");
+        this.waitAction("TaskStartResetPumpPipeSetupTubeRankPutIn");
+        MoveDoorClose.execute(this.getDevice());
+
+        // 加液管充满
+        for ( int i=0; i<8; i++ ) {
+            this.setProgressMessage("设备初始化 : 初始化加液管路 " + (i+1) + "/8");
+            if ( 0 == i%2 ) {
+                liquidMotor.moveTo("LiquidArmPumpGroupOut");
+                liquidPlateMotor.moveTo("LiquidPlateSlotPumpOutGroup",i/2);
+            } else {
+                liquidMotor.moveTo("LiquidArmPumpGroupIn");
+                liquidPlateMotor.moveTo("LiquidPlateSlotPumpInGroup", i/2);
+            }
+
+            var pump0 = this.getActuator("LiquidPeristalticPump_"+i+"_0", DiActPeristalticPump.class);
+            var pump1 = this.getActuator("LiquidPeristalticPump_"+i+"_1", DiActPeristalticPump.class);
+            var pipeVolumeCircle0 = pump1.getLocationValue("LiquidPeristalticPumpPipeVolumeCircle",i, 0);
+            var pipeVolumeCircle1 = pump1.getLocationValue("LiquidPeristalticPumpPipeVolumeCircle",i, 1);
+            this.batchExecute(List.of(
+                () -> pump0.moveBy(pipeVolumeCircle0),
+                () -> pump1.moveBy(pipeVolumeCircle1)
+            ));
+            pump0.retract();
+            pump1.retract();
+        }
+
+        liquidMotor.moveTo("LiquidArmStandby");
+
+        // 加液管充满, 需要取出试管架
+        MoveDoorOpen.execute(this.getDevice());
+        DiMdbNotification.taskAction(this, "TaskStartResetPumpPipeSetupTubeRankTakeOut");
+        this.waitAction("TaskStartResetPumpPipeSetupTubeRankTakeOut");
+        MoveDoorClose.execute(this.getDevice());
     }
 
     /**
@@ -196,6 +235,18 @@ public class TaskStartReset extends DiTaskBase {
         action.finish();
     }
 
+    // 蠕动泵管路初始化
+    public void actionPumpPipeSetupTubeRankPutIn() {
+        var action = this.getAction("TaskStartResetPumpPipeSetupTubeRankPutIn");
+        action.finish();
+    }
+
+    // 蠕动泵管路初始化
+    public void actionPumpPipeSetupTubeRankTakeOut() {
+        var action = this.getAction("TaskStartResetPumpPipeSetupTubeRankTakeOut");
+        action.finish();
+    }
+
     // set progress message
     private void setProgressMessage(String message) {
         var runtimeVars = this.getDevice().getRuntimeVariables();