设备启动初始化

src/src/main/java/com/my/graphiteDigesterBg/api/ApiCamera.java

@@ -1,9 +1,15 @@
 package com.my.graphiteDigesterBg.api;
+import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiApiControllerBase;
 import com.my.graphiteDigesterBg.diframe.DiApiResponse;
 import com.my.graphiteDigesterBg.diframe.DiDevice;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActCameraBasler;
+import com.my.graphiteDigesterBg.move.MoveCameraGrabFrame;
 import com.my.graphiteDigesterBg.move.MoveDetectErrorSlots;
 import jakarta.annotation.Resource;
+import org.opencv.core.*;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Controller;
 import org.springframework.web.bind.annotation.PostMapping;
@@ -17,31 +23,43 @@ import java.util.HashMap;
 import java.util.Map;
 @Controller
 public class ApiCamera extends DiApiControllerBase {
-    @Value("${camera.image-path}")
-    private String imagePath;
-
     @Resource
     private DiDevice device;
 
     @ResponseBody
     @PostMapping("/api/camera/image")
     public DiApiResponse getImage() {
-        Map<String, String> response = new HashMap<>();
-        response.put("data", null);
-        File file = new File(this.imagePath);
-        if ( !file.exists() ) {
-            return this.success(response);
-        }
-
-        byte[] bytes = new byte[(int)file.length()];
-        try {
-            FileInputStream fis = new FileInputStream(file);
-            fis.read(bytes);
-            fis.close();
-        } catch (Exception e) {
-            throw new RuntimeException(e);
-        }
-        String base64Image = Base64.getEncoder().encodeToString(bytes);
+        DiActCameraBasler camera = (DiActCameraBasler)this.device.getActuators().get(MyDevice.ACT_CAMERA);
+        var imageMat = camera.grabToMat();
+
+        // resize to 1/4
+        var size = imageMat.size();
+        var width = (int)(size.width * 0.25);
+        var height = (int)(size.height * 0.25);
+        var resizedMat = new Mat();
+        Size newSize = new Size(width, height);
+        Imgproc.resize(imageMat, resizedMat, newSize);
+
+        MatOfByte imageMob = new MatOfByte();
+        Imgcodecs.imencode(".png", resizedMat, imageMob);
+        byte[] imageBytes = imageMob.toArray();
+        String base64Image = Base64.getEncoder().encodeToString(imageBytes);
+        String base64Data = "data:image/image/png;base64," + base64Image;
+        return this.success(Map.of("data",base64Data));
+    }
+
+    @ResponseBody
+    @PostMapping("/api/camera/take-shot")
+    public DiApiResponse takeShot() {
+        var cameraGrabFrame = new MoveCameraGrabFrame();
+        cameraGrabFrame.setDevice(this.device);
+        cameraGrabFrame.run();
+        var imgMat = cameraGrabFrame.getDetectImageMat();
+
+        MatOfByte imageMob = new MatOfByte();
+        Imgcodecs.imencode(".png", imgMat, imageMob);
+        byte[] imageBytes = imageMob.toArray();
+        String base64Image = Base64.getEncoder().encodeToString(imageBytes);
         String base64Data = "data:image/image/png;base64," + base64Image;
         return this.success(Map.of("data",base64Data));
     }

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

@@ -2,21 +2,26 @@ package com.my.graphiteDigesterBg.task;
 import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskBase;
 import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActCameraBasler;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import com.my.graphiteDigesterBg.model.MdbOperationLog;
-
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 @Task(name="StartReset")
 public class TaskStartReset extends DiTaskBase {
     @Override
     protected void execute() {
         MdbOperationLog.log(this.getUser(), "设备初始化");
         var runtimeVars = this.getDevice().getRuntimeVariables();
-        runtimeVars.setString("IsDeviceReady", "NO");
-        runtimeVars.setString("IsTaskStartResetExecuting", "YES");
+        runtimeVars.setString("NO","IsDeviceReady");
+        runtimeVars.setString("YES", "IsTaskStartResetExecuting");
         this.setProgressMessage("设备初始化...");
 
+        this.setProgressMessage("设备初始化 : 相机");
+        DiActCameraBasler camera = this.getActuator(MyDevice.ACT_CAMERA, DiActCameraBasler.class);
+        camera.setEnable(true);
+
         this.setProgressMessage("设备初始化 : 关闭设备门");
         DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
         doorMotor.setEnable(true);
@@ -33,7 +38,6 @@ public class TaskStartReset extends DiTaskBase {
         liquidMotor.reset();
         liquidMotor.moveTo("LiquidArmStandby");
 
-        // @todo http://127.0.0.1:5566/issues/38
         this.setProgressMessage("设备初始化 : 搬运机械臂上下移动复位");
         DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
         transUdMotor.setEnable(true);
@@ -77,15 +81,20 @@ public class TaskStartReset extends DiTaskBase {
             }
         }
 
+        this.setProgressMessage("设备初始化 : 定时刷新加热盘温度");
+        var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        slotMan.startTemperatureRefresh();
+
         this.setProgressMessage("设备初始化 : 完成");
-        runtimeVars.setString("IsDeviceReady", "YES");
-        runtimeVars.setString("IsTaskStartResetExecuting", "NO");
+        runtimeVars.setString("YES","IsDeviceReady");
+        runtimeVars.setString("NO", "IsTaskStartResetExecuting");
+        runtimeVars.setString("设备已就绪", "StatusMessage");
         this.setStatus(TaskStatus.FINISHED);
     }
 
     // set progress message
     private void setProgressMessage(String message) {
         var runtimeVars = this.getDevice().getRuntimeVariables();
-        runtimeVars.setString("TaskStartResetMessage", message);
+        runtimeVars.setString(message, "TaskStartResetMessage");
     }
 }