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@ -1,19 +1,20 @@ |
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package a8k.app.service.lowerctrl; |
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package a8k.app.service.mainctrl; |
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import a8k.app.hardware.driver.*; |
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import a8k.app.hardware.type.*; |
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import a8k.app.service.lowerctrl.HbotMoveCtrlService; |
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import a8k.app.service.lowerctrl.HbotMoveExCtrlService; |
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import a8k.app.service.lowerctrl.TubeFeedingCtrlService; |
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import a8k.app.service.lowerctrl.TubePreProcesModuleCtrlService; |
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import a8k.app.type.ui.ZAppPromopt; |
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import a8k.app.type.ui.ZAppPromoptFormsItem; |
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import a8k.app.type.ui.MessageLevel; |
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import a8k.app.factory.ZAppPromoptFactory; |
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import a8k.app.hardware.channel.A8kCanBusService; |
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import a8k.app.service.background.AppEventBusService; |
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import a8k.app.teststate.VirtualDevice; |
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import a8k.app.service.statemgr.GStateMgrService; |
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import a8k.app.type.exception.AppException; |
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import jakarta.annotation.PostConstruct; |
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import lombok.Getter; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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@ -24,20 +25,15 @@ import java.util.List; |
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class DeviceMoveToZeroCtrlService { |
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private final PipetteCtrlDriverV2 pipetteCtrlDriverV2; |
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public class AppDeviceInitCtrlService { |
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public static class Checkpoint { |
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public enum Type { |
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CHECK_TUBE_XCHANNEL_IS_EMPTY,//入料通道是否为空 |
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CHECK_TUBE_X_CHANNEL_IS_EMPTY,//入料通道是否为空 |
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CHECK_PLATE_BOX_IS_COVER,//板夹仓盖子是否盖着 |
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CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER,//板夹仓卡板检测 |
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CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER,//板夹仓卡板检测 |
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CHECK_PULLERM_IS_IN_ZEROPOS,//检查拉杆电机是否在零点位置 |
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CHECK_PUSHERM_IN_IN_ZEROPOS,//检查推杆电机是否在零点位置 |
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CHECK_PULLER_MOTOR_IS_IN_ZERO_POS,//检查拉杆电机是否在零点位置 |
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CHECK_PUSHER_MOTOR_IN_IN_ZERO_POS,//检查推杆电机是否在零点位置 |
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CHECK_RECYCLE_BIN_IS_OVERFLOW,//检查垃圾箱是否满 |
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} |
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@ -65,99 +61,170 @@ public class DeviceMoveToZeroCtrlService { |
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} |
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public static class State { |
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public Boolean deviceInited = false; |
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public Boolean isBusy = false; |
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public Boolean passed = false; |
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public ZAppPromopt promopt; |
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public Boolean deviceInited = false; //设备是否已经被初始化 |
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public Boolean isBusy = false; //是否正在初始化 |
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public Boolean passed = false; //设备自检是否通过 |
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public ZAppPromopt promopt; //设备初始化报告 |
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} |
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private final GStateMgrService gstate; |
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private final VirtualDevice virtualDevice; |
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private final AppEventBusService appEventBusService; |
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private final GStateMgrService gstate; |
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private final VirtualDevice virtualDevice; |
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// |
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// Driver |
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// |
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private final A8kCanBusService canBus; |
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private final InputDetectDriver inputDetectDriver; |
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private final MiniServoDriver miniServoDriver; |
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private final StepMotorCtrlDriver stepMotorCtrlDriver; |
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private final PipetteCtrlDriverV2 pipetteCtrlDriver; |
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// |
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// ExDriver |
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// |
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private final ModuleEnableCtrlDriver moduleEnableCtrlDriver; |
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private final InputDetectDriver inputDetectDriver; |
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private final MiniServoDriver miniServoDriver; |
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private final StepMotorCtrlDriver stepMotorCtrlDriver; |
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private final PipetteCtrlDriverV2 pipetteCtrlDriverV2; |
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private final ModuleEnableCtrlDriver moduleEnableCtrlDriver; |
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// |
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// Service |
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// |
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private final TubeFeedingCtrlService tubeFeedingCtrlService; |
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private final TubePreProcesModuleCtrlService tubePreProcesModuleCtrlService; |
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private final HbotMoveExCtrlService hbotMoveExCtrlService; |
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private final HbotMoveCtrlService hbotMoveCtrlService; |
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private final HbotMoveCtrlService hbotMoveCtrlService; |
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List<Checkpoint> checkPoints = new ArrayList<>(); |
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private final List<Checkpoint> checkPoints = new ArrayList<>(); |
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private final State state = new State(); |
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private Thread workThread; |
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public List<CheckResult> checkResults; |
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Thread workThread; |
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@Getter |
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State state = new State(); |
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public List<CheckResult> checkResults; |
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@PostConstruct |
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void init() { |
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// checkPoints.add(new Checkpoint("检查入料通道是否为空",// |
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// CheckPointType.CHECK_TUBE_XCHANNEL_IS_EMPTY, () -> !inputDetectDriver.getIOState(InputIOId.THChInterPPS) && !inputDetectDriver.getIOState(InputIOId.THChOuterPPS))); |
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checkPoints.add(new Checkpoint("检查板夹仓盖子是否盖上",// |
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Checkpoint.Type.CHECK_PLATE_BOX_IS_COVER, () -> inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS))); |
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checkPoints.add(new Checkpoint("检测孵育盘入口是否卡板",// |
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Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS))); |
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checkPoints.add(new Checkpoint("检测孵育盘出口是否卡板",// |
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Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS))); |
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// checkPoints.add(new Checkpoint("检查拉杆电机是否在零点位置",// |
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// CheckPointType.CHECK_PULLERM_IS_IN_ZEROPOS, () -> inputDetectDriver.getIOState(InputIOId.PullerMZeroPPS))); |
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// checkPoints.add(new Checkpoint("检查推杆电机是否在零点位置",// |
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// CheckPointType.CHECK_PUSHERM_IN_IN_ZEROPOS, () -> inputDetectDriver.getIOState(InputIOId.PusherMZeroPPS))); |
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synchronized public State getState() { |
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return state; |
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} |
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/** |
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* 使能所有电机 |
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* @throws AppException e |
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*/ |
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public void enableAllMotor() throws AppException { |
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moduleEnableCtrlDriver.enableAllMotor(); |
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} |
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/** |
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* 失能所有电机 |
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* @throws AppException e |
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*/ |
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public void disableAllMotor() throws AppException { |
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moduleEnableCtrlDriver.forceDisableAllMotor(); |
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} |
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// disableAllMiniServo |
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//enableAllMiniServo |
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/** |
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* 失能所有舵机 |
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* @throws AppException e |
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*/ |
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public void disableAllMiniServo() throws AppException { |
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for (MiniServoMId miniServoMId : MiniServoMId.values()) { |
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miniServoDriver.miniServoEnable(miniServoMId, 0); |
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} |
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} |
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/** |
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* 使能所有舵机 |
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* @throws AppException e |
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*/ |
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public void enableAllMiniServo() throws AppException { |
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for (MiniServoMId miniServoMId : MiniServoMId.values()) { |
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miniServoDriver.miniServoEnable(miniServoMId, 1); |
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} |
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} |
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public void moveAllMotorToZero() throws AppException { |
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/** |
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* 设备初始化(同步操作) |
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* @return 设备自检结果 |
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* @throws AppException e |
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*/ |
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synchronized public List<CheckResult> initDevice() throws AppException { |
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try { |
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return doDeviceMoveToZero(); |
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} catch (AppException e) { |
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throw e; |
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} |
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} |
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/** |
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* 设备初始化(异步操作) |
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* @throws AppException e |
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*/ |
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synchronized public void initDeviceAsync() throws AppException { |
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if (workThread != null && workThread.isAlive()) { |
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throw AppException.ofAECodeError("设备正在初始化中"); |
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} |
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if (!gstate.getBoardParamInited()) { |
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throw AppException.of(A8kEcode.DEVICE_STARTUP_IN_PROGRESS); |
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} |
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if (workThread != null) { |
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try { |
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workThread.join(); |
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} catch (InterruptedException e) { |
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throw new RuntimeException(e); |
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} |
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} |
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workThread = new Thread(() -> { |
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log.info("设备初始化开始"); |
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state.isBusy = true; |
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state.passed = false; |
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state.deviceInited = false; |
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try { |
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checkResults = initDevice(); |
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for (CheckResult checkResult : checkResults) { |
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if (!checkResult.pass) { |
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throw AppException.of(A8kEcode.APPE_DEVICE_INIT_CHECK_FAIL); |
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} |
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} |
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state.passed = true; |
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state.deviceInited = true; |
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state.promopt = ZAppPromoptFactory.buildNotifyPromopt("设备初始化成功"); |
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} catch (AppException e) { |
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state.passed = false; |
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state.deviceInited = false; |
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if (e.getError().code.equals(A8kEcode.APPE_DEVICE_INIT_CHECK_FAIL)) { |
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state.promopt = buildAppPromopt(checkResults); |
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} else { |
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state.promopt = ZAppPromoptFactory.buildAppPromopt(e); |
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} |
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} |
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state.isBusy = false; |
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log.info("设备初始化结束"); |
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}); |
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workThread.start(); |
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} |
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//****************************************************************************************** |
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// PRIVATE |
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//****************************************************************************************** |
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@PostConstruct |
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private void init() { |
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// checkPoints.add(new Checkpoint("检查入料通道是否为空",// |
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// CheckPointType.CHECK_TUBE_XCHANNEL_IS_EMPTY, () -> !inputDetectDriver.getIOState(InputIOId.THChInterPPS) && !inputDetectDriver.getIOState(InputIOId.THChOuterPPS))); |
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checkPoints.add(new Checkpoint("检查板夹仓盖子是否盖上",// |
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Checkpoint.Type.CHECK_PLATE_BOX_IS_COVER, () -> inputDetectDriver.getIOState(InputIOId.PlateBoxCoverClosurePPS))); |
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checkPoints.add(new Checkpoint("检测孵育盘入口是否卡板",// |
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Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR1_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateInletStuckPPS))); |
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checkPoints.add(new Checkpoint("检测孵育盘出口是否卡板",// |
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Checkpoint.Type.CHECK_PLATE_STUCK_DETECTOR_SENSOR2_IS_TRIGGER, () -> !inputDetectDriver.getIOState(InputIOId.IncubationPlateOutletStuckPPS))); |
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// checkPoints.add(new Checkpoint("检查拉杆电机是否在零点位置",// |
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// CheckPointType.CHECK_PULLERM_IS_IN_ZEROPOS, () -> inputDetectDriver.getIOState(InputIOId.PullerMZeroPPS))); |
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// checkPoints.add(new Checkpoint("检查推杆电机是否在零点位置",// |
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// CheckPointType.CHECK_PUSHERM_IN_IN_ZEROPOS, () -> inputDetectDriver.getIOState(InputIOId.PusherMZeroPPS))); |
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} |
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private void moveAllMotorToZero() throws AppException { |
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moduleEnableCtrlDriver.enableAllMotor(); |
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try { |
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log.info("HbotZ轴回零"); |
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pipetteCtrlDriver.zMotorMoveZeroBlock(); |
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pipetteCtrlDriverV2.zMotorMoveZeroBlock(); |
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log.info("HBot回零"); |
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hbotMoveCtrlService.moveToZero(); |
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//进出料初始化 |
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@ -206,16 +273,8 @@ public class DeviceMoveToZeroCtrlService { |
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}//HBot初始化 |
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} |
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Boolean firstInit = true; |
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void doSomeThingWhenError() throws AppException { |
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stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1); |
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stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 5); |
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moduleEnableCtrlDriver.forceDisableAllMotor(); |
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} |
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List<CheckResult> doDeviceMoveToZero() throws AppException { |
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private List<CheckResult> doDeviceMoveToZero() throws AppException { |
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List<CheckResult> results = checkBeforeInitDevice(); |
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if (virtualDevice.isEnable()) { |
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@ -234,11 +293,6 @@ public class DeviceMoveToZeroCtrlService { |
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moveAllMotorToZero(); |
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//弹出无效物料 |
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if (firstInit) { |
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firstInit = false; |
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} |
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//弹出试管架 |
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tubeFeedingCtrlService.ejectTubeHolder(); |
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tubeFeedingCtrlService.moveTubeRackMoveToEnterPos(); |
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@ -256,78 +310,6 @@ public class DeviceMoveToZeroCtrlService { |
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} |
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// |
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synchronized public List<CheckResult> initDevice() throws AppException { |
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try { |
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return doDeviceMoveToZero(); |
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} catch (AppException e) { |
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//释放试管夹爪 |
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// doSomeThingWhenError(); |
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throw e; |
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} |
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} |
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synchronized public void initDeviceWithException() throws AppException { |
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List<CheckResult> results = initDevice(); |
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for (CheckResult result : results) { |
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if (!result.pass) { |
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throw AppException.ofAECodeError("设备初始化失败: check " + result.info + " fail"); |
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} |
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} |
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} |
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synchronized public State getState() { |
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return state; |
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} |
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synchronized public void initDeviceAsync() throws AppException { |
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if (workThread != null && workThread.isAlive()) { |
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throw AppException.ofAECodeError("设备正在初始化中"); |
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} |
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if (!gstate.getBoardParamInited()) { |
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throw AppException.of(A8kEcode.DEVICE_STARTUP_IN_PROGRESS); |
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} |
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if (workThread != null) { |
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try { |
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workThread.join(); |
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} catch (InterruptedException e) { |
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throw new RuntimeException(e); |
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} |
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} |
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workThread = new Thread(() -> { |
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log.info("设备初始化开始"); |
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state.isBusy = true; |
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state.passed = false; |
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state.deviceInited = false; |
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try { |
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checkResults = initDevice(); |
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for (CheckResult checkResult : checkResults) { |
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if (!checkResult.pass) { |
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throw AppException.of(A8kEcode.APPE_DEVICE_INIT_CHECK_FAIL); |
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} |
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} |
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state.passed = true; |
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state.deviceInited = true; |
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state.promopt = ZAppPromoptFactory.buildNotifyPromopt("设备初始化成功"); |
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} catch (AppException e) { |
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state.passed = false; |
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state.deviceInited = false; |
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if (e.getError().code.equals(A8kEcode.APPE_DEVICE_INIT_CHECK_FAIL)) { |
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state.promopt = buildAppPromopt(checkResults); |
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} else { |
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state.promopt = ZAppPromoptFactory.buildAppPromopt(e); |
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} |
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} |
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state.isBusy = false; |
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log.info("设备初始化结束"); |
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}); |
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workThread.start(); |
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} |
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private static ZAppPromopt buildAppPromopt(List<CheckResult> checkResults) { |
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List<ZAppPromoptFormsItem> detailInfos = new ArrayList<>(); |
