移动到错误处理区域时保存当前相机截图

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

@@ -2,9 +2,15 @@ package com.my.graphiteDigesterBg.task;
 import com.my.graphiteDigesterBg.diframe.DiTaskBase;
 import com.my.graphiteDigesterBg.diframe.Task;
 import com.my.graphiteDigesterBg.model.MdbOperationLog;
+import com.my.graphiteDigesterBg.move.MoveCameraGrabFrame;
 import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
 import com.my.graphiteDigesterBg.move.MoveTubeToErrorRackSlot;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
+
+import java.text.SimpleDateFormat;
+import java.util.Date;
 import java.util.List;
 @Task(name="TubeMoveToErrorSlot")
 public class TaskTubeMoveToErrorSlot extends DiTaskBase {
@@ -30,6 +36,7 @@ public class TaskTubeMoveToErrorSlot extends DiTaskBase {
         }
 
         MdbOperationLog.log(this.getUser(), "试管架%d移动试管到异常位", slotIndex);
+        this.saveErrorCameraImage();
 
         // move tube rack from liquid plate to heat plate
         var move = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
@@ -51,4 +58,19 @@ public class TaskTubeMoveToErrorSlot extends DiTaskBase {
 
         this.setStatus(TaskStatus.FINISHED);
     }
+
+    // save error camera image
+    private void saveErrorCameraImage() {
+        var cameraGrabFrame = new MoveCameraGrabFrame();
+        cameraGrabFrame.setDevice(this.getDevice());
+        cameraGrabFrame.run();
+        var imgMat = cameraGrabFrame.getDetectImageMat();
+
+        var errorImageFolder = this.getDevice().getEnv().getProperty("app.errorImageFolder",String.class);
+        var filename = new SimpleDateFormat("yyyyMMddHHmmss").format(new Date());
+        // join slot index list
+        var slotIndexList = String.join("-", this.tubeIndexList.stream().map(Object::toString).toArray(String[]::new));
+        var imgPath = String.format("%s/%s_%s.png", errorImageFolder, filename, slotIndexList);
+        Imgcodecs.imwrite(imgPath, imgMat);
+    }
 }