From f3f4af43ce34597188cae15d4bb2a5f195a5fdcb Mon Sep 17 00:00:00 2001 From: sige Date: Wed, 7 Feb 2024 20:44:02 +0800 Subject: [PATCH] ~~ --- .../diframe/DiApplicationRunner.java | 1 + .../my/graphiteDigesterBg/diframe/DiCommand.java | 1 + .../my/graphiteDigesterBg/diframe/DiDevice.java | 8 +++ .../my/graphiteDigesterBg/diframe/DiTestcase.java | 2 + .../graphiteDigesterBg/diframe/DiTestcaseBase.java | 16 ++++- .../graphiteDigesterBg/diframe/DiTestcaseInfo.java | 11 ++++ .../diframe/DiTestcaseManager.java | 72 ++++++++++++++++++++++ .../diframe/actuator/DiActServo.java | 7 ++- .../graphiteDigesterBg/diframe/api/DiApiTest.java | 27 ++++++++ ...MoveMoveTubeRackFromHeatPlateToLiquidPlate.java | 4 +- ...MoveMoveTubeRackFromLiquidPlateToHeatPlate.java | 4 +- .../move/MoveTubeToErrorRackSlot.java | 15 ++--- .../my/graphiteDigesterBg/task/TaskStartReset.java | 33 +++++++--- .../testcase/TestcaseLocateEachTubeSlot.java | 72 ++++++++++++++++++++++ .../testcase/TestcasePeristalticPumpTest.java | 8 +-- src/src/main/resources/application.yml | 2 +- src/src/main/resources/device.yml | 7 ++- 17 files changed, 256 insertions(+), 34 deletions(-) create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseInfo.java create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseManager.java create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/diframe/api/DiApiTest.java create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcaseLocateEachTubeSlot.java diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiApplicationRunner.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiApplicationRunner.java index b7096f5..1755a46 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiApplicationRunner.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiApplicationRunner.java @@ -15,6 +15,7 @@ public class DiApplicationRunner implements ApplicationRunner { this.device.getRegisters().setup(); this.device.getActuators().setup(); this.device.getIO().setup(); + this.device.getTestcases().setup(); this.device.getTaskManager().scanTaskClasses("com.my.graphiteDigesterBg.task"); this.device.getTaskManager().scanTaskStepClasses("com.my.graphiteDigesterBg.step"); diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java index f1258d0..b0600e7 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java @@ -10,6 +10,7 @@ public enum DiCommand { MOTOR_EASY_MOVE_BY("motor_easy_move_by", 0x0212), MOTOR_EASY_MOVE_TO("motor_easy_move_to", 0x0213), MOTOR_EASY_MOVE_TO_ZERO("motor_easy_move_to_zero", 0x0214), + MOTOR_EASY_SET_CURRENT_POS("motor_easy_set_current_pos", 0x0215), MOTOR_EASY_MOVE_TO_IO("motor_easy_move_to_io", 0x0216); // command name diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDevice.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDevice.java index aa0968b..c05a2d0 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDevice.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiDevice.java @@ -37,6 +37,8 @@ public class DiDevice { private DiDeviceRuntimeVariableManager runtimeVariables; // message index private short messageIndex = 0; + // testcase manager + private DiTestcaseManager testcaseManager; @PostConstruct public void init() { @@ -50,6 +52,7 @@ public class DiDevice { this.resource = new DiDeviceResourceManager(this); this.taskManager = new DiTaskManager(this); this.runtimeVariables = new DiDeviceRuntimeVariableManager(); + this.testcaseManager = new DiTestcaseManager(this); } // load device.yml @@ -144,6 +147,11 @@ public class DiDevice { return this.runtimeVariables; } + // get testcase manager + public DiTestcaseManager getTestcases() { + return this.testcaseManager; + } + // get config public String getConfig( String path ) { String[] parts = path.split("\\."); diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcase.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcase.java index 9bf11bd..3926ea1 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcase.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcase.java @@ -2,4 +2,6 @@ package com.my.graphiteDigesterBg.diframe; public interface DiTestcase { // execute testcase void run(); + + void setDevice(DiDevice device); } diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseBase.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseBase.java index ff6b75f..3c1ee2d 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseBase.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseBase.java @@ -3,7 +3,7 @@ abstract public class DiTestcaseBase implements DiTestcase { // device private DiDevice device; - // set device + @Override public void setDevice(DiDevice device) { this.device = device; } @@ -28,4 +28,18 @@ abstract public class DiTestcaseBase implements DiTestcase { DiActuator actuator = this.getDevice().getActuators().get(actuatorKey); return clazz.cast(actuator); } + + // assert equal + public void assertEqual( Object expected, Object actual ) { + if ( !expected.equals(actual) ) { + throw new RuntimeException("expected: " + expected + ", actual: " + actual); + } + } + + // assert not equal + public void assertNotEqual( Object expected, Object actual ) { + if ( expected.equals(actual) ) { + throw new RuntimeException("expected: " + expected + ", actual: " + actual); + } + } } diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseInfo.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseInfo.java new file mode 100644 index 0000000..4a94e7e --- /dev/null +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseInfo.java @@ -0,0 +1,11 @@ +package com.my.graphiteDigesterBg.diframe; +public class DiTestcaseInfo { + // name + public String name; + // title + public String title; + // description + public String description; + // class + public Class clazz; +} diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseManager.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseManager.java new file mode 100644 index 0000000..2baffe8 --- /dev/null +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/DiTestcaseManager.java @@ -0,0 +1,72 @@ +package com.my.graphiteDigesterBg.diframe; +import com.my.graphiteDigesterBg.diframe.util.DiClassHelper; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import java.lang.reflect.Constructor; +import java.lang.reflect.InvocationTargetException; +import java.util.HashMap; +import java.util.List; +import java.util.Map; +public class DiTestcaseManager { + // logger + public static final Logger LOG = LoggerFactory.getLogger(DiTestcaseManager.class); + // device + private final DiDevice device; + // testcase classes + private final Map testcasees; + + // constructor + public DiTestcaseManager(DiDevice device) { + this.device = device; + this.testcasees = new HashMap<>(); + } + + // setup + public void setup() { + var options = (Map)this.device.getConfig().get("testcase"); + var packageNames = (List)options.get("packages"); + for ( String packageName : packageNames ) { + List> testClasses = DiClassHelper.getAllClassesInPackage(packageName); + for ( Class testClass : testClasses ) { + if ( DiTestcaseBase.class.isAssignableFrom(testClass) ) { + Testcase testcaseAnnotation = testClass.getAnnotation(Testcase.class); + if ( testcaseAnnotation != null ) { + var info = new DiTestcaseInfo(); + info.name = testcaseAnnotation.name(); + info.title = testcaseAnnotation.title(); + info.description = testcaseAnnotation.description(); + info.clazz = testClass; + this.testcasees.put(testcaseAnnotation.name(), info); + LOG.info("(Testcase) {} => {}", testcaseAnnotation.name(), testClass.getName()); + } + } + } + } + } + + // execute testcase by name + public void execute( String name ) { + var info = this.testcasees.get(name); + if ( info == null ) { + throw new RuntimeException("Testcase not found: " + name); + } + + Constructor constructor = null; + try { + constructor = info.clazz.getDeclaredConstructor(); + } catch (NoSuchMethodException e) { + throw new RuntimeException(e); + } + + DiTestcase testcase = null; + try { + testcase = (DiTestcase)constructor.newInstance(); + } catch (InstantiationException | IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + throw new RuntimeException(e); + } + + testcase.setDevice(this.device); + testcase.run(); + } +} diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java index f43468d..b1f91d6 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java @@ -32,7 +32,8 @@ public class DiActServo extends DiActuatorBase { this.waitForFinish(); } - public void moveBy( Integer delta ) {} - public void rotate( Integer direction ) {} - public void stop() {} + // set current position as middle + public void setCurrentPosAsMiddle() { + this.call(DiCommand.MOTOR_EASY_SET_CURRENT_POS, 2047); + } } diff --git a/src/src/main/java/com/my/graphiteDigesterBg/diframe/api/DiApiTest.java b/src/src/main/java/com/my/graphiteDigesterBg/diframe/api/DiApiTest.java new file mode 100644 index 0000000..4cca165 --- /dev/null +++ b/src/src/main/java/com/my/graphiteDigesterBg/diframe/api/DiApiTest.java @@ -0,0 +1,27 @@ +package com.my.graphiteDigesterBg.diframe.api; +import com.my.graphiteDigesterBg.diframe.DiApiControllerBase; +import com.my.graphiteDigesterBg.diframe.DiApiResponse; +import com.my.graphiteDigesterBg.diframe.DiDevice; +import jakarta.annotation.Resource; +import org.springframework.stereotype.Controller; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.ResponseBody; +import java.util.Map; +@Controller +public class DiApiTest extends DiApiControllerBase { + @Resource + private DiDevice device; + + @ResponseBody + @PostMapping("/api/test/execute") + public DiApiResponse execute(@RequestBody Map params ) { + String name = (String)params.get("name"); + try { + this.device.getTestcases().execute(name); + } catch (Exception e) { + return this.error(e.getMessage()); + } + return this.success(); + } +} diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java index afebb7e..2ac9f95 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java @@ -24,7 +24,7 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase { // 加热盘转盘移动到取放架位置 heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex); // 打开试管架盖 - slotCoverServo.moveTo("HeatPlateSlotCoverOpen", this.slotIndex); + slotCoverServo.moveTo("HeatPlateSlotCoverOpen"); // 搬运上升到顶部 transUdMotor.moveTo("TransUdMotorTop"); // 搬运移动到加热取架位置 @@ -46,7 +46,7 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase { // 搬运上升到顶部 transUdMotor.moveTo("TransUdMotorTop"); // 关闭试管架盖 - slotCoverServo.moveTo("HeatPlateSlotCoverClose", this.slotIndex); + slotCoverServo.moveTo("HeatPlateSlotCoverClose"); // 搬运移动到就绪位置 transLrMotor.moveTo("TransLrMotorStandby"); // 加热盘移动到就绪位置 diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java index 48ee3c8..700a1e1 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java @@ -35,7 +35,7 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase { heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex); // 打开试管架盖 - slotCoverServo.moveTo("HeatPlateSlotCoverOpen", this.slotIndex); + slotCoverServo.moveTo("HeatPlateSlotCoverOpen"); // 搬运移动到加热盘取放位置 transLrMotor.moveTo("TransLrMotorHeatPlateSlot"); @@ -49,7 +49,7 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase { transLrMotor.moveTo("TransLrMotorStandby"); // 试管架盖关闭 - slotCoverServo.moveTo("HeatPlateSlotCoverClose", this.slotIndex); + slotCoverServo.moveTo("HeatPlateSlotCoverClose"); heatPlateMotor.moveTo("HeatPlateStandby"); liquidPlateMotor.moveTo("LiquidPlateStandby"); diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java index 19c0600..13f1a7a 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java @@ -31,7 +31,7 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase { heatPlateMotor.moveTo(heatPlateSlotLocation + heatPlateSlotTubeOffset); // 打开试管架盖 - srcSlotCoverServo.moveTo("HeatPlateSlotCoverOpen", this.srcSlotIndex); + srcSlotCoverServo.moveTo("HeatPlateSlotCoverOpen"); // 搬运左右移动到试管位置 Integer transLrMotorHeatPlateSlotLocation = transLrMotor.getLocationValue("TransLrMotorHeatPlateSlot"); @@ -54,7 +54,7 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase { transLrMotor.moveTo("TransLrMotorStandby"); // 试管架盖关闭 - srcSlotCoverServo.moveTo("HeatPlateSlotCoverClose", this.srcSlotIndex); + srcSlotCoverServo.moveTo("HeatPlateSlotCoverClose"); // 错误准备 var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class); @@ -64,19 +64,16 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase { // 加热盘移动到试管位置 Integer errorHeatPlateSlotLocation = heatPlateMotor.getLocationValue("HeatPlateSlot", errorSlot.index); - Integer errorHeatPlateSlotTubeOffset = heatPlateMotor.getLocationValue("HeatPlateSlotTubeOffset", errorSlot.index); -// heatPlateMotor.moveTo(errorHeatPlateSlotLocation + errorHeatPlateSlotTubeOffset); - // @TODO : 这个是临时的 ~~~ 上面的数值计算错误 ~~~ 因为先找抓取位置，然后再找放置位置是正确的 ~~~ - heatPlateMotor.moveTo(2700); + Integer errorHeatPlateSlotTubeOffset = heatPlateMotor.getLocationValue("HeatPlateSlotTubeOffset", this.errorTubeIndex); + heatPlateMotor.moveTo(errorHeatPlateSlotLocation + errorHeatPlateSlotTubeOffset); // 打开试管架盖 - errSlotCoverServo.moveTo("HeatPlateSlotCoverOpen", errorSlot.index); + errSlotCoverServo.moveTo("HeatPlateSlotCoverOpen"); // 搬运左右移动到试管位置 transLrMotorTubeOffset = transLrMotor.getLocationValue("TransLrMotorTubeOffset", this.errorTubeIndex); transLrMotor.moveTo(transLrMotorHeatPlateSlotLocation + transLrMotorTubeOffset); - // 升降下降到试管位置 transUdMotor.moveTo("TransUdMotorTubeClip"); @@ -93,7 +90,7 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase { transLrMotor.moveTo("TransLrMotorStandby"); // 试管架盖关闭 - errSlotCoverServo.moveTo("HeatPlateSlotCoverClose", errorSlot.index); + errSlotCoverServo.moveTo("HeatPlateSlotCoverClose"); // 加热盘移动到就绪位置 heatPlateMotor.moveTo("HeatPlateStandby"); 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 4de8f99..ecdbefc 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java @@ -12,64 +12,77 @@ public class TaskStartReset extends DiTaskBase { var runtimeVars = this.getDevice().getRuntimeVariables(); runtimeVars.set("IsDeviceReady", "NO"); runtimeVars.set("IsTaskStartResetExecuting", "YES"); + this.setProgressMessage("设备初始化..."); - // 门电机 + 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); - // 试管夹爪舵机 + 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"); - // 加液机械臂启用并复位 + 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: 这里要先手动移动到一个安全位置 + // @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"); - // 搬运机械臂左右移动初始化 + 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"); - // 初始化加热盘盖舵机 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.moveTo("HeatPlateSlotCoverClose", i); + heatSlotCoverServo.setCurrentPosAsMiddle(); } - // 加液转盘 + // @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(); - // 加热盘转盘 + // @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"); - // 蠕动泵初始化 + int peristalticPumpCount = 1; var actuators = this.getDevice().getActuators().getAll(); for ( var actuator : actuators ) { if (actuator instanceof DiActPeristalticPump pump) { + this.setProgressMessage("设备初始化 : 蠕动泵复位 " + peristalticPumpCount + "/16"); pump.setEnable(true); + peristalticPumpCount++; } } + this.setProgressMessage("设备初始化 : 完成"); runtimeVars.set("IsDeviceReady", "YES"); runtimeVars.set("IsTaskStartResetExecuting", "NO"); this.setStatus(TaskStatus.FINISHED); } + + // set progress message + private void setProgressMessage(String message) { + var runtimeVars = this.getDevice().getRuntimeVariables(); + runtimeVars.set("TaskStartResetMessage", message); + } } diff --git a/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcaseLocateEachTubeSlot.java b/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcaseLocateEachTubeSlot.java new file mode 100644 index 0000000..a08399c --- /dev/null +++ b/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcaseLocateEachTubeSlot.java @@ -0,0 +1,72 @@ +package com.my.graphiteDigesterBg.testcase; +import com.my.graphiteDigesterBg.MyDevice; +import com.my.graphiteDigesterBg.diframe.DiTestcaseBase; +import com.my.graphiteDigesterBg.diframe.Testcase; +import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor; +import com.my.graphiteDigesterBg.diframe.actuator.DiActServo; +@Testcase( + name="LocateEachTubeSlot", + title="测试每个试管孔定位情况", + description="测试时，需要将第一个试管孔位放置一个试管，用于观察定位情况" +) +public class TestcaseLocateEachTubeSlot extends DiTestcaseBase { + @Override + public void run() { + var heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class); + heatPlateMotor.setEnable(true); + heatPlateMotor.reset(); + + var transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class); + transUdMotor.setEnable(true); + transUdMotor.reset(); + transUdMotor.moveTo("TransUdMotorStandby"); + + var 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++ ) { + String key = "HeatingPlateMotorSlotCover_" + i; + DiActServo heatSlotCoverServo = this.getActuator(key, DiActServo.class); + heatSlotCoverServo.setEnable(true); + heatSlotCoverServo.setCurrentPosAsMiddle(); + } + + // 从第一个试管孔位取试管 + for ( int tubeSlotIndex=0; tubeSlotIndex<16;tubeSlotIndex++ ) { + for ( int rackSlotIndex=0; rackSlotIndex<5; rackSlotIndex++ ) { + var coverKey = "HeatingPlateMotorSlotCover_" + rackSlotIndex; + var heatSlotCoverServo = this.getActuator(coverKey, DiActServo.class); + heatSlotCoverServo.moveTo("HeatPlateSlotCoverOpen"); + + // 计算孔位 + var rackPickUpLocation = heatPlateMotor.getLocationValue("HeatPlateSlot", rackSlotIndex); + var tubePickUpOffset = heatPlateMotor.getLocationValue("HeatPlateSlotTubeOffset", tubeSlotIndex); + heatPlateMotor.moveTo(rackPickUpLocation + tubePickUpOffset); + + // 左右移动到试管孔位 + var transLrRackPickUpLocation = transLrMotor.getLocationValue("TransLrMotorHeatPlateSlot"); + var transLrTubePickUpOffset = transLrMotor.getLocationValue("TransLrMotorTubeOffset", tubeSlotIndex); + transLrMotor.moveTo(transLrRackPickUpLocation + transLrTubePickUpOffset); + + // 上下移动到试管预备位 + transUdMotor.moveTo(300); + transUdMotor.moveTo("TransUdMotorTubeClip"); + + // 完成单次 + // 上下移动到顶部 + transUdMotor.moveTo("TransUdMotorTop"); + // 左右移动到就绪位 + transLrMotor.moveTo("TransLrMotorStandby"); + // 关闭试管孔位盖 + heatSlotCoverServo.moveTo("HeatPlateSlotCoverClose"); + } + } + + transUdMotor.moveTo("TransUdMotorStandby"); + transLrMotor.moveTo("TransLrMotorStandby"); + heatPlateMotor.moveTo("HeatPlateStandby"); + heatPlateMotor.setEnable(false); + } +} diff --git a/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcasePeristalticPumpTest.java b/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcasePeristalticPumpTest.java index 3012c4f..3a98e8f 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcasePeristalticPumpTest.java +++ b/src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcasePeristalticPumpTest.java @@ -1,12 +1,10 @@ package com.my.graphiteDigesterBg.testcase; import com.my.graphiteDigesterBg.diframe.DiTestcaseBase; import com.my.graphiteDigesterBg.diframe.Testcase; -import com.my.graphiteDigesterBg.diframe.actuator.DiActPeristalticPump; - @Testcase( - name="PeristalticPumpTest", - title="测试每个蠕动泵旋转情况", - description="测试时需将桶内装入一定量的水，并在加液臂处放置容器用于接水" + name="PeristalticPumpTest", + title="测试每个蠕动泵旋转情况", + description="测试时需将桶内装入一定量的水，并在加液臂处放置容器用于接水" ) public class TestcasePeristalticPumpTest extends DiTestcaseBase { @Override diff --git a/src/src/main/resources/application.yml b/src/src/main/resources/application.yml index e2c85a1..98364c5 100644 --- a/src/src/main/resources/application.yml +++ b/src/src/main/resources/application.yml @@ -6,4 +6,4 @@ spring: encoding: utf-8 app : - errorSlotIndex : 1 \ No newline at end of file + errorSlotIndex : 4 \ No newline at end of file diff --git a/src/src/main/resources/device.yml b/src/src/main/resources/device.yml index f2c457a..8c6bca8 100644 --- a/src/src/main/resources/device.yml +++ b/src/src/main/resources/device.yml @@ -11,6 +11,11 @@ connection : # mode : hex # callTimeout : 3000 # device actuators + +testcase : + packages : + - com.my.graphiteDigesterBg.testcase + actuators : - name : 加热盘电机 key : HeatingPlateMotor @@ -73,7 +78,7 @@ actuators : defaultVelocity : 300 defaultAcc : 100 defaultDec : 100 - runToZeroSpeed : 100 + runToZeroSpeed : 300 runToZeroDec : 100 lookZeroEdgeSpeed : 25 lookZeroEdgeDec : 100