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src/src/main/java/com/my/graphiteDigesterBg/step/StepHeating.java

@@ -1,33 +0,0 @@
-package com.my.graphiteDigesterBg.step;
-import com.my.graphiteDigesterBg.diframe.DiTask;
-import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
-import com.my.graphiteDigesterBg.diframe.TaskStep;
-import com.my.graphiteDigesterBg.move.MoveHeatPlateSlotHeating;
-import com.my.graphiteDigesterBg.task.TaskDigestion;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-@TaskStep(name="Heating")
-public class StepHeating extends DiTaskStepBase {
-    // logger
-    public static final Logger LOG = LoggerFactory.getLogger(StepHeating.class);
-    // temperature
-    public Integer temperature;
-    // duration in minutes
-    public Integer duration;
-
-    @Override
-    public void run() {
-        var task = this.getTask(TaskDigestion.class);
-
-        var heating = new MoveHeatPlateSlotHeating();
-        heating.slotIndex = task.slotIndex;
-        heating.temperature = this.temperature;
-        heating.duration = this.duration;
-        heating.setDevice(task.getDevice());
-        heating.onFinish(() -> {
-            task.setStatus(DiTask.TaskStatus.READY);
-        });
-        heating.run();
-        task.setStatus(DiTask.TaskStatus.WAITING);
-    }
-}

src/src/main/java/com/my/graphiteDigesterBg/step/StepHeatingStart.java

@@ -0,0 +1,28 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActHeater;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+@TaskStep(name="HeatingStart")
+public class StepHeatingStart extends DiTaskStepBase {
+    // temperature
+    public Integer temperature;
+
+    @Override
+    public void run() {
+        var task = this.getTask(TaskDigestion.class);
+        var slot = task.getSlot();
+
+        var heaterKey = "HeatingPlateSlotHeater_" + slot.index;
+        var heater = this.getActuator(heaterKey, DiActHeater.class);
+        heater.setTemperature(this.temperature);
+        heater.start();
+
+        slot.isHeating = true;
+        slot.srcTemperature = heater.getTemperature() * 100;
+        slot.destTemperature = this.temperature * 100;
+        slot.heatingStartedAt = null;
+        String message = String.format("试管架%d : 开始加热", slot.index);
+        this.getTask().getDevice().getRuntimeVariables().setString(message, "StatusMessage");
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/step/StepHeatingStop.java

@@ -0,0 +1,22 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActHeater;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+@TaskStep(name="HeatingStop")
+public class StepHeatingStop extends DiTaskStepBase {
+    @Override
+    public void run() {
+        var task = this.getTask(TaskDigestion.class);
+        var slot = task.getSlot();
+
+        slot.isHeating = false;
+        slot.destTemperature = null;
+        String message = String.format("试管架%d : 停止加热", slot.index);
+        this.getTask().getDevice().getRuntimeVariables().setString(message, "StatusMessage");
+
+        var heaterKey = "HeatingPlateSlotHeater_" + slot.index;
+        var heater = this.getActuator(heaterKey, DiActHeater.class);
+        heater.stop();
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/step/StepPump.java

@@ -1,46 +1,40 @@
 package com.my.graphiteDigesterBg.step;
 import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
 import com.my.graphiteDigesterBg.diframe.TaskStep;
-import com.my.graphiteDigesterBg.model.MdbOperationLog;
 import com.my.graphiteDigesterBg.move.MoveLiquidAdd;
-import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromHeatPlateToLiquidPlate;
-import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate;
+import com.my.graphiteDigesterBg.resource.ResAcidManager;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
 import com.my.graphiteDigesterBg.task.TaskDigestion;
-
 @TaskStep(name="Pump")
 public class StepPump extends DiTaskStepBase {
     // type
     public String type;
     // amount
     public Integer amount;
-    // shake
-    public Integer shake;
 
     @Override
     public void run() {
         var task = (TaskDigestion)this.getTask();
+        var slot = task.getSlot();
+        if (!ResHeatingTubeRackSlot.LOCATION_LIQUID_PLATE.equals(slot.rackPosition)) {
+            task.throwException("试管架尚未移至加液区域，无法执行加液操作");
+            return;
+        }
 
-        // @TODO : 这里需要检查加液盘是否为空， 如果不为空则需要等待 ~~~
-
-        // move tube rack from heat plate to liquid plate
-        var moveTubeRackFromHeatPlateToLiquidPlate = new MoveMoveTubeRackFromHeatPlateToLiquidPlate();
-        moveTubeRackFromHeatPlateToLiquidPlate.setDevice(task.getDevice());
-        moveTubeRackFromHeatPlateToLiquidPlate.slotIndex = task.slotIndex;
-        moveTubeRackFromHeatPlateToLiquidPlate.run();
+        var liquidBucketMan = task.getResourceManager(ResAcidManager.class);
+        var bucket = liquidBucketMan.getBucketByAcidType(this.type);
+        var totalVolume = this.amount * 16;
+        if ( bucket.volume < totalVolume ) {
+            throw new RuntimeException("酸液不足， 无法执行加液操作");
+        }
 
         // add liquid
         var liquidAdd = new MoveLiquidAdd();
         liquidAdd.setDevice(task.getDevice());
-        liquidAdd.shakeTimes = this.shake;
+        liquidAdd.shakeTimes = 0;
         liquidAdd.liquidType = this.type;
         liquidAdd.liquidVolume = this.amount;
         liquidAdd.slotIndex = task.slotIndex;
         liquidAdd.run();
-
-        // move tube rack from liquid plate to heat plate
-        var moveTubeRackFromLiquidPlateToHeatPlate = new MoveMoveTubeRackFromLiquidPlateToHeatPlate();
-        moveTubeRackFromLiquidPlateToHeatPlate.setDevice(task.getDevice());
-        moveTubeRackFromLiquidPlateToHeatPlate.slotIndex = task.slotIndex;
-        moveTubeRackFromLiquidPlateToHeatPlate.run();
     }
 }

src/src/main/java/com/my/graphiteDigesterBg/step/StepTakeOut.java

@@ -0,0 +1,40 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.model.DiMdbNotification;
+import com.my.graphiteDigesterBg.move.MoveDoorClose;
+import com.my.graphiteDigesterBg.move.MoveDoorOpen;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+@TaskStep(name="TakeOut")
+public class StepTakeOut extends DiTaskStepBase {
+    @Override
+    public void run() {
+        var task = (TaskDigestion)this.getTask();
+        var slot = task.getSlot();
+        if ( !ResHeatingTubeRackSlot.LOCATION_LIQUID_PLATE.equals(slot.rackPosition) ) {
+            task.throwException("试管架尚未移至加液区域，无法执行取出操作");
+            return;
+        }
+
+        // door open
+        var moveDoorOpen = new MoveDoorOpen();
+        moveDoorOpen.setDevice(task.getDevice());
+        moveDoorOpen.run();
+
+        DiMdbNotification.taskAction(task,"TaskDigestionStepTakeOut");
+        task.waitAction("TaskDigestionStepTakeOut");
+
+        // door close
+        var moveDoorClose = new MoveDoorClose();
+        moveDoorClose.setDevice(task.getDevice());
+        moveDoorClose.run();
+    }
+
+    // action done
+    public void actionDone() {
+        var task = (TaskDigestion)this.getTask();
+        var action = task.getAction("TaskDigestionStepTakeOut");
+        action.finish();
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/step/StepTempDownWait.java

@@ -0,0 +1,36 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActHeater;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+import java.util.Timer;
+import java.util.TimerTask;
+@TaskStep(name="TempDownWait")
+public class StepTempDownWait extends DiTaskStepBase {
+    // temperature
+    public Integer temperature;
+
+    @Override
+    public void run() {
+        TaskDigestion task = (TaskDigestion)this.getTask();
+        var slot = task.getSlot();
+
+        var heaterKey = "HeatingPlateSlotHeater_" + slot.index;
+        var heater = this.getActuator(heaterKey, DiActHeater.class);
+        var temperature = heater.getTemperature();
+
+        if ( temperature <= this.temperature ) {
+            return ;
+        }
+
+        task.setStatus(TaskDigestion.TaskStatus.STEP_WAITING);
+        var timerTask = new TimerTask() {
+            @Override
+            public void run() {
+                task.setStatus(TaskDigestion.TaskStatus.READY);
+            }
+        };
+        var timer = new Timer();
+        timer.schedule(timerTask, 5000);
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/step/StepTempKeepDelay.java

@@ -0,0 +1,42 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.diframe.DiTask;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+import java.util.Timer;
+import java.util.TimerTask;
+@TaskStep(name="TempKeepDelay")
+public class StepTempKeepDelay extends DiTaskStepBase {
+    // duration in minutes
+    public Integer duration;
+
+    @Override
+    public void run() {
+        TaskDigestion task = (TaskDigestion)this.getTask();
+        var slot = task.getSlot();
+
+        if ( null == slot.heatingStartedAt ) {
+            LOG.info("[Heating Slot {}] start countdown", slot.index);
+            slot.heatingStartedAt = (int)(System.currentTimeMillis()/1000);
+            slot.heatingDuration = this.duration * 60;
+        }
+
+        var duration = System.currentTimeMillis()/1000 - slot.heatingStartedAt;
+        if ( duration > slot.heatingDuration ) { // 时间到了
+            slot.heatingStartedAt = null;
+            slot.heatingDuration = null;
+            return ;
+        }
+
+        // 5秒后再次检查
+        task.setStatus(DiTask.TaskStatus.STEP_WAITING);
+        var timerTask = new TimerTask() {
+            @Override
+            public void run() {
+                task.setStatus(DiTask.TaskStatus.READY);
+            }
+        };
+        var timer = new Timer();
+        timer.schedule(timerTask, 5000);
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/step/StepTempRiseWait.java

@@ -0,0 +1,35 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActHeater;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+import java.util.Timer;
+import java.util.TimerTask;
+@TaskStep(name="TempRiseWait")
+public class StepTempRiseWait extends DiTaskStepBase {
+    // temperature
+    public Integer temperature;
+
+    @Override
+    public void run() {
+        TaskDigestion task = (TaskDigestion) this.getTask();
+        var slot = task.getSlot();
+
+        var heaterKey = "HeatingPlateSlotHeater_" + slot.index;
+        var heater = this.getActuator(heaterKey, DiActHeater.class);
+        var temperature = heater.getTemperature();
+        if ( temperature >= this.temperature ) {
+            return ;
+        }
+
+        task.setStatus(TaskDigestion.TaskStatus.STEP_WAITING);
+        var timerTask = new TimerTask() {
+            @Override
+            public void run() {
+                task.setStatus(TaskDigestion.TaskStatus.READY);
+            }
+        };
+        var timer = new Timer();
+        timer.schedule(timerTask, 5000);
+    }
+}