From d4ec1afdd6327c907bf72af9c088664244afc641 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Thu, 21 Mar 2024 17:53:29 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=8E=A5=E5=8F=A3=E6=94=AF?=
 =?UTF-8?q?=E6=8C=81?=
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---
 .../my/graphiteDigesterBg/task/TaskStartReset.java | 38 ++++++++++++++--------
 1 file changed, 24 insertions(+), 14 deletions(-)

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 353a8e1..8619457 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java
@@ -15,6 +15,9 @@ import com.my.graphiteDigesterBg.move.MoveMoveTubeRackFromLiquidPlateToHeatPlate
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 @Task(name="StartReset")
 public class TaskStartReset extends DiTaskBase {
+    // 是否需要放置异常处理试管架
+    private Boolean isErrorTubeRackRequired = true;
+
     @Override
     protected void execute() {
         MdbOperationLog.log(this.getUser(), "设备初始化");
@@ -65,14 +68,7 @@ public class TaskStartReset extends DiTaskBase {
         heatPlateMotor.reset();
         heatPlateMotor.moveTo("HeatPlateStandby");
 
-        this.clearTubeRack();
-        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();
-        }
+        this.setupHeatingSlotCover();
 
         int peristalticPumpCount = 1;
         var actuators = this.getDevice().getActuators().getAll();
@@ -92,10 +88,12 @@ public class TaskStartReset extends DiTaskBase {
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         slotMan.startTemperatureRefresh();
 
-        this.setProgressMessage("设备初始化 : 放入异常处理试管架");
-        doorMotor.reset(); // 打开设备门
-        DiMdbNotification.taskAction(this, "TaskStartResetErrorTubeRackPutIn");
-        this.waitAction("TaskStartResetErrorTubeRackPutIn");
+        if ( this.isErrorTubeRackRequired ) {
+            this.setProgressMessage("设备初始化 : 放入异常处理试管架");
+            doorMotor.reset(); // 打开设备门
+            DiMdbNotification.taskAction(this, "TaskStartResetErrorTubeRackPutIn");
+            this.waitAction("TaskStartResetErrorTubeRackPutIn");
+        }
 
         this.setProgressMessage("设备初始化 : 完成");
         runtimeVars.setString("YES","IsDeviceReady");
@@ -108,8 +106,9 @@ public class TaskStartReset extends DiTaskBase {
      * 清理试管架
      * @issue : <a href="http://127.0.0.1:5566/issues/85">无法获取加液位置是否存在试管架</a>
      */
-    private void clearTubeRack() {
+    private void setupHeatingSlotCover() {
         boolean isDoorOpen = false;
+        Integer errorSlotIndex = this.getDevice().getEnv().getProperty("app.errorSlotIndex",Integer.class);
 
         for ( int i=0; i<5; i++ ) {
             this.setProgressMessage("设备初始化 : 检查试管架 " + (i+1) + "/5");
@@ -119,9 +118,17 @@ public class TaskStartReset extends DiTaskBase {
             var currentPos = heatSlotCoverServo.getCurrentPos();
             LOG.info("HeatingPlateMotorSlotCover #{} : current pos = {}", i, currentPos);
 
+            // 如果是空的，则初始化位置后继续下一步
             var rackExistsPos = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverRackExists");
             if ( currentPos > rackExistsPos ) {
-                heatSlotCoverServo.setEnable(false);
+                heatSlotCoverServo.setCurrentPosAsMiddle();
+                continue;
+            }
+
+            // 如果是空试管架， 又是异常区域则不处理， 因为异常区域始终要有个试管架
+            var emptyRackExistsPos = heatSlotCoverServo.getLocationValue("HeatingPlateMotorSlotCoverEmptyRackExists");
+            if ( currentPos > emptyRackExistsPos && null != errorSlotIndex && errorSlotIndex == i ) { // 异常区域存在空试管架
+                this.isErrorTubeRackRequired = false;
                 continue;
             }
 
@@ -143,6 +150,9 @@ public class TaskStartReset extends DiTaskBase {
             DiMdbNotification.taskAction(this, "TaskStartResetErrorTubeRackTakeOut");
             this.waitAction("TaskStartResetErrorTubeRackTakeOut");
             LOG.info("HeatingPlateMotorSlotCover #{} : take out", i);
+
+            heatSlotCoverServo.setEnable(true);
+            heatSlotCoverServo.setCurrentPosAsMiddle();
         }
 
         if ( isDoorOpen ) {