~~

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");

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

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("\\.");

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);
 }

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);
+        }
+    }
 }

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;
+}

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<String, DiTestcaseInfo> testcasees;
+
+    // constructor
+    public DiTestcaseManager(DiDevice device) {
+        this.device = device;
+        this.testcasees = new HashMap<>();
+    }
+
+    // setup
+    public void setup() {
+        var options = (Map<String,Object>)this.device.getConfig().get("testcase");
+        var packageNames = (List<String>)options.get("packages");
+        for ( String packageName : packageNames ) {
+            List<Class<?>> 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();
+    }
+}

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);
+    }
 }

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<String,Object> params ) {
+        String name = (String)params.get("name");
+        try {
+            this.device.getTestcases().execute(name);
+        } catch (Exception e) {
+            return this.error(e.getMessage());
+        }
+        return this.success();
+    }
+}

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

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");

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");

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);
+    }
 }

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);
+    }
+}

src/src/main/java/com/my/graphiteDigesterBg/testcase/TestcasePeristalticPumpTest.java

@@ -1,8 +1,6 @@
 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",

src/src/main/resources/application.yml

@@ -6,4 +6,4 @@ spring:
     encoding: utf-8
 
 app :
-  errorSlotIndex : 1
+  errorSlotIndex : 4

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