diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java index ccca1d2..a3ce331 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java @@ -10,62 +10,62 @@ import com.my.graphiteDigesterBg.model.MdbOperationLog; @Task(name="StartReset") public class TaskStartReset extends DiTaskBase { @Override - public void run() { + 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"); this.setProgressMessage("设备初始化..."); -// 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); -// doorMotor.moveToIO(1, 1); -// -// this.setProgressMessage("设备初始化 : 关闭夹爪"); -// DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class); -// transferClipServo.setEnable(true); -// transferClipServo.moveTo("TransClipServoClose"); -// + 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); + doorMotor.moveToIO(1, 1); + + this.setProgressMessage("设备初始化 : 关闭夹爪"); + DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class); + transferClipServo.setEnable(true); + transferClipServo.moveTo("TransClipServoClose"); + this.setProgressMessage("设备初始化 : 加液臂复位"); DiActMotor liquidMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class); liquidMotor.setEnable(true); 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); -// transUdMotor.reset(); -// transUdMotor.moveTo("TransUdMotorStandby"); -// -// this.setProgressMessage("设备初始化 : 搬运机械臂左右移动复位"); -// DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class); -// transLrMotor.setEnable(true); -// transLrMotor.reset(); -// transLrMotor.moveTo("TransLrMotorStandby"); -// -// for ( int i=0; i<5; i++ ) { -// this.setProgressMessage("设备初始化 : 加热盘转盘槽盖关闭 " + (i+1) + "/5"); -// String key = "HeatingPlateMotorSlotCover_" + i; -// DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class); -// heatSlotCoverServo.setEnable(true); -// heatSlotCoverServo.setCurrentPosAsMiddle(); -// } -// + + // @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); + transUdMotor.reset(); + transUdMotor.moveTo("TransUdMotorStandby"); + + this.setProgressMessage("设备初始化 : 搬运机械臂左右移动复位"); + DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class); + transLrMotor.setEnable(true); + transLrMotor.reset(); + transLrMotor.moveTo("TransLrMotorStandby"); + + for ( int i=0; i<5; i++ ) { + this.setProgressMessage("设备初始化 : 加热盘转盘槽盖关闭 " + (i+1) + "/5"); + String key = "HeatingPlateMotorSlotCover_" + i; + DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class); + heatSlotCoverServo.setEnable(true); + heatSlotCoverServo.setCurrentPosAsMiddle(); + } + // @TODO : http://127.0.0.1:5566/issues/39 this.setProgressMessage("设备初始化 : 加液转盘复位"); DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class); liquidPlateMotor.setEnable(true); liquidPlateMotor.reset(); -// -// // @TODO : http://127.0.0.1:5566/issues/40 -// this.setProgressMessage("设备初始化 : 加热盘转盘复位"); -// DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class); -// heatPlateMotor.setEnable(true); -// heatPlateMotor.reset(); -// heatPlateMotor.moveTo("HeatPlateStandby"); + + // @TODO : http://127.0.0.1:5566/issues/40 + this.setProgressMessage("设备初始化 : 加热盘转盘复位"); + DiActMotor heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class); + heatPlateMotor.setEnable(true); + heatPlateMotor.reset(); + heatPlateMotor.moveTo("HeatPlateStandby"); int peristalticPumpCount = 1; var actuators = this.getDevice().getActuators().getAll(); diff --git a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStopReset.java b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStopReset.java index e10e923..f5982de 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStopReset.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStopReset.java @@ -5,7 +5,7 @@ import com.my.graphiteDigesterBg.model.MdbOperationLog; @Task(name="StopReset") public class TaskStopReset extends DiTaskBase { @Override - public void run() { + protected void execute() { this.setStatus(TaskStatus.RUNNING); MdbOperationLog.log(this.getUser(), "停止复位");