大缓冲液

src/main/java/com/iflytop/a800/controller/DemoController.java

@@ -32,4 +32,13 @@ public class DemoController extends UfApiControllerBase {
         pipette.dispense(tube);
         return this.success();
     }
+
+    @PostMapping("/api/demo/pipette-aspirate-from-large-buffer-tube")
+    @ResponseBody
+    public UfApiResponse pipetteAspirateFromLargeBufferTube() {
+        var tube = Device.getInstance().largeBufferTube.getTube();
+        var pipette = Device.getInstance().pipette;
+        pipette.aspirateFromLargeBufferTube(tube, 50);
+        return this.success();
+    }
 }

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

@@ -1,6 +1,7 @@
 package com.iflytop.a800.device;
 
 import com.iflytop.a800.resource.BufferTubeManager;
+import com.iflytop.a800.resource.LargeBufferTubeManager;
 
 public class Device {
     // singleton instance
@@ -11,6 +12,8 @@ public class Device {
     public final Pipette pipette = new Pipette();
     // buffer tube manager
     public final BufferTubeManager bufferTube = new BufferTubeManager();
+    // large buffer tube manager
+    public final LargeBufferTubeManager largeBufferTube = new LargeBufferTubeManager();
 
     // get instance
     public static Device getInstance() {

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

@@ -1,5 +1,6 @@
 package com.iflytop.a800.device;
 import com.iflytop.a800.resource.BufferTube;
+import com.iflytop.a800.resource.LargeBufferTube;
 import com.iflytop.uf.UfActuatorCmdExecutor;
 import com.iflytop.uf.UfCmdSnippetExecutor;
 import com.iflytop.uf.model.UfMdbOption;
@@ -19,9 +20,9 @@ public class Pipette {
 
     //
     public Pipette() {
-        this.tipAmountList.add(0);
-        this.tipAmountList.add(0);
-        this.tipAmountList.add(0);
+        this.tipAmountList.add(120);
+        this.tipAmountList.add(120);
+        this.tipAmountList.add(120);
     }
 
     // set tip amount
@@ -137,4 +138,69 @@ public class Pipette {
         }
         UfCmdSnippetExecutor.execute(snippetKey, dispenseParams);
     }
+
+    // 从大缓冲液管吸液
+    public void aspirateFromLargeBufferTube(LargeBufferTube tube, Integer volume) {
+        Integer startX = UfMdbOption.getInteger("LargeBufferTubeZoneStartX");
+        Integer startY = UfMdbOption.getInteger("LargeBufferTubeZoneStartY");
+        Integer distanceX = UfMdbOption.getInteger("LargeBufferTubeDistanceX");
+        Integer distanceY = UfMdbOption.getInteger("LargeBufferTubeDistanceY");
+        Integer indexX = tube.index % 3;
+        Integer indexY = tube.index / 3;
+        Integer tubeX = startX + indexX * distanceX;
+        Integer tubeY = startY + indexY * distanceY;
+        Map<String,Object> dispenseParams = Map.of("tubeX", tubeX, "tubeY", tubeY);
+
+        String snippetKey = "PipetteAspirateFromLargeBufferTubePrepare";
+        UfCmdSnippetExecutor.execute(snippetKey, dispenseParams);
+
+        var maxDepth = UfMdbOption.getInteger("LargeBufferTubeLiquidDetectMaxDepth");
+        var threshold = UfMdbOption.getInteger("LargeBufferTubeLiquidDetectThreshold");
+        this.moveToLiquidLevel(maxDepth, threshold);
+
+        Double coefficient = UfMdbOption.getDouble("LargeBufferTubeLiquidLevelFollowCoefficient");
+        Integer depth = (int)(coefficient * volume);
+        this.aspirateWithLiquidLevelFollow(volume, depth);
+    }
+
+    // 移动到液面
+    private void moveToLiquidLevel( Integer maxDepth, Integer threshold ) {
+        int stepDepth = 10;
+        int depth = 0;
+        do {
+            String capValStr = UfActuatorCmdExecutor.execute("Pipette", "read_pipette_capacitance_val");
+            int capVal = Integer.parseInt(capValStr);
+            if ( capVal > threshold ) {
+                break;
+            }
+
+            depth += stepDepth;
+            if ( depth > maxDepth ) {
+                UfCmdSnippetExecutor.execute("ArmResetZ");
+                throw new RuntimeException("未检测到液面");
+            }
+            UfActuatorCmdExecutor.execute("ArmZ", "motor_easy_move_by", Integer.toString(stepDepth));
+        } while (true);
+    }
+
+    // 吸液并跟随液面
+    private void aspirateWithLiquidLevelFollow( Integer volume, Integer depth ) {
+        String moveByParams = String.format("%d,%d,%d", depth, 300, 5);
+        Thread threadArmZMove = new Thread(() -> {
+            UfActuatorCmdExecutor.execute("ArmZ", "motor_move_by", moveByParams);
+        });
+        Thread threadAspirate = new Thread(() -> {
+            UfActuatorCmdExecutor.execute("Pipette", "pipette_ctrl_move_to_ul", Integer.toString(volume));
+        });
+
+        threadArmZMove.start();
+        threadAspirate.start();
+        try {
+            threadArmZMove.join();
+            threadAspirate.join();
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        UfCmdSnippetExecutor.execute("ArmResetZ");
+    }
 }

src/main/java/com/iflytop/a800/resource/LargeBufferTube.java

@@ -0,0 +1,6 @@
+package com.iflytop.a800.resource;
+
+public class LargeBufferTube {
+    public Integer index;
+    public Integer quantity;
+}

src/main/java/com/iflytop/a800/resource/LargeBufferTubeManager.java

@@ -0,0 +1,29 @@
+package com.iflytop.a800.resource;
+import java.util.ArrayList;
+import java.util.List;
+public class LargeBufferTubeManager {
+    // tubes
+    public List<LargeBufferTube> tubes;
+
+    // Constructor
+    public LargeBufferTubeManager() {
+        this.tubes = new ArrayList<>();
+        for (int i = 0; i < 6; i++) {
+            var tube = new LargeBufferTube();
+            tube.index = i;
+            tube.quantity = 3;
+            tubes.add(tube);
+        }
+    }
+
+    // get tube
+    public LargeBufferTube getTube() {
+        for (LargeBufferTube tube : tubes) {
+            if (tube.quantity > 0) {
+                tube.quantity --;
+                return tube;
+            }
+        }
+        throw new RuntimeException("No tube available");
+    }
+}