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

@@ -0,0 +1,103 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
+import com.my.graphiteDigesterBg.diframe.model.DiMdbNotification;
+import com.my.graphiteDigesterBg.move.MoveDoorClose;
+import com.my.graphiteDigesterBg.move.MoveDoorOpen;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+import java.util.ArrayList;
+import java.util.List;
+@TaskStep(name="TakeOutFromErrorSlot")
+public class StepTakeOutFromErrorSlot extends DiTaskStepBase {
+    @Override
+    public void run() {
+        var task = (TaskDigestion)this.getTask();
+
+        var slot = task.getSlot();
+        List<Integer> errorTubes = task.errorTubeIndexes;
+        if ( null == errorTubes ) {
+            errorTubes = new ArrayList<>();
+        }
+
+        // 开门
+        MoveDoorOpen.execute(task.getDevice());
+
+        // 准备一个空试管架
+        DiMdbNotification.taskAction(task,"TaskErrorDigestionStepTakeOutFromErrorSlot");
+        task.waitAction("TaskErrorDigestionStepTakeOutFromErrorSlot");
+
+        // 关门
+        MoveDoorClose.execute(task.getDevice());
+
+        for ( Integer errorTubeIndex : errorTubes ) {
+            this.takeOutFromErrorSlot(errorTubeIndex);
+        }
+    }
+
+    // 从异常处理区域取出试管
+    private void takeOutFromErrorSlot( Integer tubeIndex ) {
+        var task = (TaskDigestion)this.getTask();
+        var slotMan = task.getResourceManager(ResHeatingTubeRackSlotManager.class);
+        var heatPlateMotor = this.getActuator(MyDevice.ACT_HEAT_PLATE_MOTOR, DiActMotor.class);
+        var transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
+        var transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
+        var transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
+        var liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+
+        // 打开试管架盖
+        var errorSlot = slotMan.getErrorSlot();
+        String errSlotKey = "HeatingPlateMotorSlotCover_" + errorSlot.index;
+        DiActServo coverServo = this.getActuator(errSlotKey, DiActServo.class);
+        coverServo.moveTo("HeatPlateSlotCoverOpen");
+        // 加热转盘移动到试管位置
+        heatPlateMotor.moveTo("HeatPlateErrorSlotTube", tubeIndex);
+        // 搬运左右移动到试管位置
+        transLrMotor.moveTo("TransLrMotorHeatingPlateTube", tubeIndex);
+        // 打开试管夹
+        transferClipServo.moveTo("TransClipServoOpenFromTube");
+        // 升降下降到试管位置
+        transUdMotor.moveTo("TransUdMotorTubeClip");
+        // 试管夹关闭
+        transferClipServo.moveTo("TransClipServoClose");
+        // 升降移动到顶部
+        transUdMotor.moveTo("TransUdMotorTop");
+        // 搬运左右移动到就绪位置
+        transLrMotor.moveTo("TransLrMotorStandby");
+        // 盖上试管架盖
+        coverServo.moveTo("HeatPlateSlotCoverClose");
+        // 加液转盘移至就绪位置
+        heatPlateMotor.moveTo("HeatPlateStandby");
+        // 标记试管位置存在
+        var errorRackSlot = slotMan.getErrorSlot();
+        errorRackSlot.getTubes().get(tubeIndex).setHasTube(false);
+
+        // 下方试管
+        // 加液盘旋转到试管位置
+        liquidPlateMotor.moveTo("LiquidPlateTube", tubeIndex);
+        // 搬运左右移动到试管位置
+        transLrMotor.moveTo("TransLrMotorLiquidPlateTube", tubeIndex);
+        // 搬运上下移动到取试管位置
+        transUdMotor.moveTo("TransUdMotorLiquidPlateTubeClip");
+        // 搬运夹爪张开
+        transferClipServo.moveTo("TransClipServoOpenForTube");
+        // 搬运上下移动到顶部
+        transUdMotor.moveTo("TransUdMotorTop");
+        // 搬运夹爪关闭
+        transferClipServo.moveTo("TransClipServoTubeClip");
+        // 搬运左右移动到就绪位置
+        transLrMotor.moveTo("TransLrMotorStandby");
+        // 加液试管架回到就绪位置
+        liquidPlateMotor.moveTo("LiquidPlateStandby");
+    }
+
+    // action done
+    public void actionDone( ) {
+        var task = (TaskDigestion)this.getTask();
+        var action = task.getAction("TaskErrorDigestionStepTakeOutFromErrorSlot");
+        action.finish();
+    }
+}

src/web/src/pages/main/Page.vue

@@ -66,6 +66,7 @@
   <noti-handler-task-sample-take-out-tube-rack />
   <noti-handler-task-digestion-step-take-out />
   <noti-handler-task-digestion-step-checking />
+  <noti-handler-task-error-digestion-step-take-out-from-error-slot />
 </template>
 <script setup>
 import { ref,onMounted, onUnmounted } from 'vue';
@@ -88,6 +89,7 @@ import NotiHandlerTaskStartResetErrorTubeRackTakeOut from './contents/notificati
 import NotiHandlerTaskSampleTakeOutTubeRack from './contents/notification/TaskSampleTakeOutTubeRack.vue';
 import NotiHandlerTaskDigestionStepTakeOut from './contents/notification/TaskDigestionStepTakeOut.vue';
 import NotiHandlerTaskDigestionStepChecking from './contents/notification/TaskDigestionStepChecking.vue';
+import NotiHandlerTaskErrorDigestionStepTakeOutFromErrorSlot from './contents/notification/TaskErrorDigestionStepTakeOutFromErrorSlot.vue';
 /** @var {AppStore} */
 const appStore = useAppStore();
 /** @var {Ref<string>} */

src/web/src/pages/main/contents/TaskStepManagement.vue

@@ -62,6 +62,7 @@
               <a-select-option value="MoveToLiquidPlate">转移至加液区</a-select-option>
               <a-select-option value="Checking">检查</a-select-option>
               <a-select-option value="MoveErrorTubesToErrorSlot">转移异常试管至异常区</a-select-option>
+              <a-select-option value="TakeOutFromErrorSlot">从异常区域取出试管</a-select-option>
               <a-select-option value="ExecuteErrorTask">执行异常处理</a-select-option>
               <a-select-option value="TakeOut">取出</a-select-option>
             </a-select>
@@ -161,6 +162,7 @@ function stepNameGet(step) {
     case 'TakeOut' : return `取出`;
     case 'Checking' : return `检查`;
     case 'MoveErrorTubesToErrorSlot' : return `转移异常试管至异常区`;
+    case 'TakeOutFromErrorSlot' : return '从异常区域取出试管';
     }
 }
 

src/web/src/pages/main/contents/notification/TaskErrorDigestionStepTakeOutFromErrorSlot.vue

@@ -0,0 +1,42 @@
+<template>
+  <a-modal v-if="enable" v-model:open="enable" title="放入试管架"
+    :closable="false"
+    :mask-closable="false"
+  >
+    <p>请放入空试管架， 完成后请点击 “确定” 按钮以继续。</p>
+    <template #footer>
+    <a-button type="primary" @click="actionOk">确定</a-button>
+  </template>
+</a-modal>
+</template>
+<script setup>
+import { onMounted, ref } from 'vue';
+import { useAppStore } from '@/stores/AppStore';
+import ApiClient from '@/utils/ApiClient';
+/** @var {AppStore} */
+const appStore = useAppStore();
+/** @var {Ref<boolean>} */
+const enable = ref(false);
+/** @var {string} */
+let taskId = null;
+// on mounted
+onMounted(mounted);
+
+// mounted
+function mounted() {
+    appStore.registerNotificationHandler('TaskErrorDigestionStepTakeOutFromErrorSlot', handleTaskErrorDigestionStepTakeOutFromErrorSlot);
+}
+
+// handle TaskStartResetErrorTubeRackPutIn
+function handleTaskErrorDigestionStepTakeOutFromErrorSlot( task ) {
+    taskId = task;
+    enable.value = true;
+}
+
+// action ok
+async function actionOk() {
+    enable.value = false;
+    let client = ApiClient.getClient();
+    await client.taskStepActionExecute(taskId, "Done");
+}
+</script>