孵育盘温度控制

src/main/java/com/iflytop/a800/device/Incubator.java

@@ -1,9 +1,14 @@
 package com.iflytop.a800.device;
+import com.fasterxml.jackson.databind.JsonNode;
+import com.iflytop.a800.EventMan;
 import com.iflytop.a800.resource.IncubatorSlot;
 import com.iflytop.a800.resource.TestCard;
 import com.iflytop.uf.UfActuatorCmdExecutor;
 import com.iflytop.uf.UfCmdSnippetExecutor;
 import com.iflytop.uf.model.UfMdbOption;
+import com.iflytop.uf.model.UfMdbRuntimeVariable;
+import com.iflytop.uf.util.UfCommon;
+import com.iflytop.uf.util.UfJsonHelper;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Map;
@@ -12,9 +17,15 @@ public class Incubator extends DeviceComponent {
     private final List<IncubatorSlot> slots;
     // 槽位起始索引
     private Integer slotStartIndex = 0;
+    // 目标温度
+    public Integer destTemperature = null;
+    // 是否正在加热
+    private Boolean isHeatingOn = false;
 
     // 构造函数
     public Incubator() {
+        this.destTemperature = null;
+        this.isHeatingOn = false;
         this.slotStartIndex = 0;
         this.slots = new ArrayList<>();
         for ( int i = 0; i < 20; i++ ) {
@@ -24,6 +35,83 @@ public class Incubator extends DeviceComponent {
         }
     }
 
+    // 获取当前温度
+    public Double getCurrentTemperature() {
+        String incubatorTempStr = UfActuatorCmdExecutor.execute("IncubatorTempCtrl", "read_temperature");
+        int intTemp = Integer.parseInt(incubatorTempStr);
+        return (Double)(intTemp / 10.0);
+    }
+
+    // 等待温度到达指定温度
+    public void waitForTemperature( Integer temp ) {
+        if ( 0 == temp ) {
+            return ;
+        }
+
+        this.heatingStart();
+
+        int destTemp = temp * 10;
+        int pmValue = UfMdbOption.getInteger("IncubatorTemperaturePmValue", 0);
+        do {
+            int curTemp = (int)(this.getCurrentTemperature() * 10);
+            if ( curTemp - pmValue < destTemp && destTemp < curTemp + pmValue ) {
+                break;
+            }
+            UfCommon.delay(1000);
+        } while ( true );
+    }
+
+    // 加热
+    public void heatingStart() {
+        if ( this.isHeatingOn ) {
+            return ;
+        }
+
+        String temp = this.destTemperature.toString();
+        UfActuatorCmdExecutor.execute("IncubatorTempCtrl", "temp_controler_start_hearting", temp);
+        this.isHeatingOn = true;
+    }
+
+    // 停止加热
+    public void heatingStop() {
+        if ( !this.isHeatingOn ) {
+            return ;
+        }
+        UfActuatorCmdExecutor.execute("IncubatorTempCtrl", "temp_controler_stop_hearting");
+        this.isHeatingOn = false;
+    }
+
+    // 通过运行时变量清理测试卡
+    public void cleanupByRuntimeVariableSlotStatus() {
+        var scanner = Device.getInstance().scanner;
+        var listString = UfMdbRuntimeVariable.getString("IncubatorSlotCardStatus", "[]");
+        var listJson = UfJsonHelper.jsonToNode(listString);
+        for (JsonNode item : listJson) {
+            int index = item.get("index").asInt();
+            boolean hasCard = item.get("hasCard").asBoolean();
+            if ( !hasCard ) {
+                continue;
+            }
+
+            var slot = new IncubatorSlot();
+            slot.index = index;
+            this.exitCardToScanner(slot);
+            scanner.dropCard();
+        }
+    }
+
+    // 刷新运行时变量状态
+    private void refreshRuntimeVariableSlotStatus() {
+        List<Map<String,Object>> status = new ArrayList<>();
+        for ( int i = 0; i < 20; i++ ) {
+            var slot = this.slots.get(i);
+            status.add(Map.of("index", i, "hasCard", null != slot.card));
+        }
+
+        var list = UfJsonHelper.objectToJson(status);
+        UfMdbRuntimeVariable.setString("IncubatorSlotCardStatus", list);
+    }
+
     // 移动至提交位置
     public void moveToCommitPos( IncubatorSlot slot ) {
         Integer commitStartPos = UfMdbOption.getInteger("IncubatorSlotCommitStartPos");
@@ -50,6 +138,9 @@ public class Incubator extends DeviceComponent {
             throw new RuntimeException("无可用孵育盘槽位");
         }
 
+        slot.card = card;
+        this.refreshRuntimeVariableSlotStatus();
+
         Integer boxPos = UfMdbOption.getInteger(String.format("TestCardWarehouseBox.%d", card.boxIndex));
         Integer slotStartPos = UfMdbOption.getInteger("IncubatorSlotStartPos");
         Integer slotDistance = UfMdbOption.getInteger("IncubatorSlotDistance");
@@ -64,7 +155,6 @@ public class Incubator extends DeviceComponent {
             "commit", commitPos
         );
         UfCmdSnippetExecutor.execute("IncubatorTestCardPushIn", params);
-        slot.card = card;
 
         this.unlock(lock);
         return slot;
@@ -78,5 +168,15 @@ public class Incubator extends DeviceComponent {
         Map<String,Object> params = Map.of("slot", slotPos);
         UfCmdSnippetExecutor.execute("IncubatorTestCardExitToScanner", params);
         slot.card = null;
+        this.refreshRuntimeVariableSlotStatus();
+
+        // 当所有测试卡退出后， 关掉加热
+        boolean hasTestCard = false;
+        for ( var tmpSlot : this.slots ) {
+            hasTestCard = hasTestCard || tmpSlot.card != null;
+        }
+        if ( !hasTestCard ) {
+            this.heatingStop();
+        }
     }
 }

src/main/java/com/iflytop/a800/task/TubeTestTask.java

@@ -83,6 +83,9 @@ public class TubeTestTask extends TaskBase {
         this.test.isSamplingFinished = "no";
         this.test.save();
 
+        // 等待孵育盘温度
+        device.incubator.waitForTemperature(this.project.temperature);
+
         // 移动试管架
         if ( !UfMdbDictItem.match("TUBE_TYPE", "EMERGENCY", this.tube.type) ) {
             Integer testStartPos = UfMdbOption.getInteger("TubeRackTubeTestStartPos");