update

src/main/java/a8k/app/hardware/driver/PipetteCtrlDriverV2.java

@@ -333,6 +333,7 @@ public class PipetteCtrlDriverV2 {
 	}
 
 	public void pierceThroughBlock(ContainerCpyId containerCpyId, Integer containerPos) throws AppException {
+		log.info("pierceThroughBlock: containerCpyId={}, containerPos={}", containerCpyId, containerPos);
 		callcmd(MId.PipetteMod, CmdId.pipette_pump_pierce_through, containerCpyId.toInteger(), containerPos);
 		waitForMod(CmdId.pipette_pump_pierce_through);
 	}

src/main/java/a8k/app/service/analyzer/A8kEcodeAnalyzer.java

@@ -8,7 +8,9 @@ public class A8kEcodeAnalyzer {
 		if (ecode.index >= A8kEcode.LOW_ERROR_HARDWARE_ERROR_START.index) {
 			//部分底层错误，属于非必须停机的错误
 			return switch (ecode) {
-				case LOW_ERROR_PIPETTE_ERROR_TIP_POP_ERROR, LOW_ERROR_PIPETTE_ERROR_LLD_ERROR -> false;
+				case LOW_ERROR_PIPETTE_ERROR_TIP_POP_ERROR,
+					 LOW_ERROR_PIPETTE_LLD_ERROR_NO_LIQUID_DETECTED,
+					 LOW_ERROR_PIPETTE_ERROR_LLD_ERROR -> false;
 				default -> true;
 			};
 		} else {

src/main/java/a8k/app/service/appsetup/A8kSubModuleRegInitService.java

@@ -48,6 +48,10 @@ public class A8kSubModuleRegInitService {
 
 	private void onAppEvent(AppEvent event) {
 		if (event instanceof A8kCanBusOnConnectEvent) {
+			if (gStateMgrService.isDeviceInited()) {
+				log.warn("board param already inited, skip init it again");
+				return;
+			}
 			var initThread = new Thread(this::initModuleRegVal);
 			initThread.setName("initModuleRegVal");
 			initThread.start();

src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrService.java

@@ -111,7 +111,7 @@ public class LiquidOperationCtrService {
 		pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam(
 				probeSubstanceContainerPos.z,
 				ContainerCpyId.DetectSubstancesCup,
-				LiquidConfigCpyIdx.NotSet,
+				LiquidConfigCpyIdx.Default,
 				true,
 				DistribuType.JET_DIST,
 				0,
@@ -163,7 +163,7 @@ public class LiquidOperationCtrService {
 				ul * 10,
 				sampleContainerPos.z,
 				a8kSamplePosToContainerCpyId(from),
-				LiquidConfigCpyIdx.NotSet,
+				LiquidConfigCpyIdx.Default,
 				0,
 				1,
 				0,
@@ -191,7 +191,7 @@ public class LiquidOperationCtrService {
 			pircePos       = hbotLittleBSPosMgr.getLittleBSPiercePos(pos.group, pos.index);
 			containerCpyId = ContainerCpyId.LittleBufferCup;
 		}
-
+		hbotMoveExCtrlService.moveToXY(pircePos);
 		pipetteCtrlDriverV2.pierceThroughBlock(containerCpyId, pircePos.z);
 	}
 

src/main/java/a8k/app/service/module/SamplePreProcessModule.java

@@ -154,17 +154,23 @@ public class SamplePreProcessModule {
 		// 预定孵育盘位置
 		for (var cxt : tube.getPreProcessContexts()) {
 			//预定孵育盘位置
-			cxt.incubatorPos = incubationPlateStateMgr.takeOneIncubationIDLEPos((IncubatorPos pos) ->
-					incubationPlateStateMgr.syncCxtInfo(pos, cxt.sampleInfo, cxt.projBuildinInfo, cxt.projExtInfoCard, cxt.consumableInfo)
+			var incubatorPos = incubationPlateStateMgr.takeOneIncubationIDLEPos((IncubatorPos pos) ->
+					incubationPlateStateMgr.syncCxtInfo(pos, cxt.getSampleInfo(), cxt.getProjBuildinInfo(), cxt.getProjExtInfoCard(), cxt.getConsumableInfo())
 			);
-			//使用耗材
-			consumablesMgrService.useReserveConsumable(cxt.consumableInfo);
+			tubeStateMgrService.setTubeCxtIncubationPos(cxt,incubatorPos);
+			consumablesMgrService.useReserveConsumable(cxt.getConsumableInfo());
 		}
 		tubeStateMgrService.changeTubeStateToResourceIsReady();
 
 
 		startTask();
 		actionTaskPool.waitAllDone();
+		if (actionTaskPool.isHasError()) {
+			sampleProcessRollback();
+			samplePrepareRollback();
+		}
+
+
 		AppError samplePrepareAppError = actionTaskPool.getError(TaskLine.SamplePrepare);
 		if (samplePrepareAppError != null && A8kEcodeAnalyzer.isFatalError(samplePrepareAppError)) {
 			throw AppException.of(samplePrepareAppError);
@@ -177,8 +183,6 @@ public class SamplePreProcessModule {
 
 		if (samplePrepareAppError != null || sampleProcessAppError != null) {
 			//发生错误，进行回滚
-			sampleProcessRollback();
-			samplePrepareRollback();
 			tubeStateMgrService.changeTubeStateToError(samplePrepareAppError, sampleProcessAppError);
 		} else {
 			//	样本处理完成
@@ -190,6 +194,7 @@ public class SamplePreProcessModule {
 
 	void startTask() {
 		actionTaskPool.resetState();
+
 		actionTaskPool.pushTask(TaskLine.SamplePrepare, () -> {
 			Tube       tube       = tubeStateMgrService.getCurProcessingTube();
 			TubeHolder tubeHolder = tubeStateMgrService.getTubeHolder();
@@ -233,34 +238,38 @@ public class SamplePreProcessModule {
 			List<ProjectPreProcessContext> cxts       = tube.getPreProcessContexts();
 
 			//! 等待样本准备完成
-			sampleIsReadyCondition.waitTrue();
 
 			for (ProjectPreProcessContext cxt : cxts) {
 
+				Assert.isTrue(cxt.getIncubatorPos() != null, "cxt.incubatorPos != null");
+
 				boolean             finalCxt         = cxt.equals(cxts.getLast());
 				PreReactionPos      preReactionPos   = ProjectParamUtils.getPreReactionPos(tubeHolder, tube, cxt);
-				A8kReactionFlowType reactionFlowType = cxt.projBuildinInfo.reactionFlowType;
+				A8kReactionFlowType reactionFlowType = cxt.getProjBuildinInfo().reactionFlowType;
 				A8kSamplePos        samplePos        = ProjectParamUtils.getSamplePos(tubeHolder, tube);
 				Integer             sampleVol        = ProjectParamUtils.getSampleUl(cxt);
 
-				liquidOperationCtrService.setProjContext(cxt.projBuildinInfo, cxt.projExtInfoCard);
+				liquidOperationCtrService.setProjContext(cxt.getProjBuildinInfo(), cxt.getProjExtInfoCard());
 
 
 				//预处理
 				if (reactionFlowType.equals(A8kReactionFlowType.SampleAndBSAndProbeSubstance)) {
 					UISender.txInfoMsg(log, "取大瓶缓冲液到探测物质中");
-					LargeBufferPos largeBufferPos = LargeBufferPos.of(cxt.consumableInfo.group);
-					Integer        largeBSVolume  = cxt.projBuildinInfo.bigBufferSampleUl;
+					LargeBufferPos largeBufferPos = LargeBufferPos.of(cxt.getConsumableInfo().group);
+					Integer        largeBSVolume  = cxt.getProjBuildinInfo().bigBufferSampleUl;
 					Assert.notNull(largeBufferPos, "largeBufferPos != null");
 					docmd("取大瓶缓冲液", () -> {
 						liquidOperationCtrService.takeLargeBottleBufferLiquidToProbeSubstance(largeBufferPos, preReactionPos, largeBSVolume);
 					});
 
+				} else if (reactionFlowType.equals(A8kReactionFlowType.SampleAndBS)) {
+					docmd("刺破小瓶缓冲液", () -> liquidOperationCtrService.pirceLittleBuffer(preReactionPos));
 				}
 
+				sampleIsReadyCondition.waitTrue();
+
 				//取样本到小缓冲瓶或者探测物质
 				if (reactionFlowType.equals(A8kReactionFlowType.SampleAndBS)) {
-					docmd("刺破小瓶缓冲液", () -> liquidOperationCtrService.pirceLittleBuffer(preReactionPos));
 					UISender.txInfoMsg(log, "取样");
 					docmd("取样", () -> liquidOperationCtrService.takeSampleToPreReactionPos(samplePos, preReactionPos, sampleVol));
 				} else if (reactionFlowType.equals(A8kReactionFlowType.SampleAndBSAndProbeSubstance)) {
@@ -274,9 +283,9 @@ public class SamplePreProcessModule {
 				liquidOperationCtrService.takePreReactionLiquid(preReactionPos);
 				//开始孵育
 				UISender.txInfoMsg(log, "开始孵育");
-				Integer incubatedTimeSec = cxt.projBuildinInfo.reactionPlateIncubationTimeMin * 60;
+				Integer incubatedTimeSec = cxt.getProjBuildinInfo().reactionPlateIncubationTimeMin * 60;
 				incubationPlateCtrlModule.dropLiquidAndStartIncubating(
-						cxt.incubatorPos,
+						cxt.getIncubatorPos(),
 						() -> docmd("取反应液到孵育盘", liquidOperationCtrService::dropLiquidToReactionPlate),
 						incubatedTimeSec
 				);

src/main/java/a8k/app/service/statemgr/IncubationPlateStateMgr.java

@@ -144,6 +144,7 @@ public class IncubationPlateStateMgr {
 				return subtank.getPos();
 			}
 		}
+		log.warn("孵育盘没有空闲位置可用");
 		return null;
 	}
 

src/main/java/a8k/app/service/statemgr/TubeStateMgr.java

@@ -4,6 +4,7 @@ import a8k.app.dao.type.db.DeviceStatistic;
 import a8k.app.service.analyzer.ConsumableStateAnalyzerService;
 import a8k.app.type.DeviceRunMode;
 import a8k.app.type.a8k.pos.ConsumableInfo;
+import a8k.app.type.a8k.pos.IncubatorPos;
 import a8k.app.type.a8k.state.*;
 import a8k.app.type.error.AEConsumeNotEnoughError;
 import a8k.app.type.a8k.proj.ProjBriefInfo;
@@ -238,7 +239,7 @@ public class TubeStateMgr {
 		//try delete the last emergency sample
 		if (tube.getState().isEq(TubeState.TO_BE_PROCESSED)) {
 			for (ProjectPreProcessContext cxt : tube.getPreProcessContexts()) {
-				consumablesMgrService.bakReserveConsumable(cxt.consumableInfo);
+				consumablesMgrService.bakReserveConsumable(cxt.getConsumableInfo());
 			}
 			deleteSampleInfo(tube.getSampleId());    //delete sample info
 		}
@@ -279,14 +280,42 @@ public class TubeStateMgr {
 			String sampleId = tube.getSampleId();
 			if (sampleId != null && !sampleId.isEmpty()) {
 				for (ProjectPreProcessContext cxt : tube.getPreProcessContexts()) {
-					consumablesMgrService.bakReserveConsumable(cxt.consumableInfo);
+					consumablesMgrService.bakReserveConsumable(cxt.getConsumableInfo());
 				}
 				deleteSampleInfo(tube.getSampleId());    //delete sample info
 			}
 			throw e;
 		}
+	}
 
+	synchronized public void setTubeCxtIncubationPos(ProjectPreProcessContext cxt, IncubatorPos pos) {
+		if (cxt == null || pos == null) {
+			log.error("设置试管预处理上下文孵育盘位置失败，cxt或pos为空");
+			return;
+		}
 
+		if (emergencyTubePos.tube != null) {
+			for (ProjectPreProcessContext context : emergencyTubePos.tube.getPreProcessContexts()) {
+				if (context.getCxtId().equals(cxt.getCxtId())) {
+					context.setIncubatorPos(pos);
+					log.info("设置急诊试管孵育盘预定位置，pos:{}", pos);
+					return;
+				}
+			}
+		}
+		for (Tube tube : tubeHolder.getTubes()) {
+			if (tube == null) {
+				continue;
+			}
+			for (ProjectPreProcessContext context : tube.getPreProcessContexts()) {
+				if (context.getCxtId().equals(cxt.getCxtId())) {
+					context.setIncubatorPos(pos);
+					log.info("设置试管{}孵育盘预定位置, pos:{}", tube.getPos(), pos);
+					return;
+				}
+			}
+		}
+		log.error("设置试管预处理上下文孵育盘位置失败，未找到对应的上下文 cxtId:{}", cxt.getCxtId());
 	}
 
 
@@ -380,6 +409,7 @@ public class TubeStateMgr {
 		curProcessingTube.setState(TubeState.RESOURCE_IS_READY);
 	}
 
+
 	synchronized public void changeTubeStateToProcessing() {
 		log.info("试管 状态->处理中 SampleId:{}", curProcessingTube.getSampleId());
 		curProcessingTube.setState(TubeState.PROCESSING);
@@ -471,7 +501,7 @@ public class TubeStateMgr {
 	private void bakReserveConsumable(TubeHolder tubeHolder) {
 		for (Tube tube : tubeHolder.getTubes()) {
 			for (ProjectPreProcessContext cxt : tube.getPreProcessContexts()) {
-				consumablesMgrService.bakReserveConsumable(cxt.consumableInfo);
+				consumablesMgrService.bakReserveConsumable(cxt.getConsumableInfo());
 			}
 		}
 	}

src/main/java/a8k/app/type/a8k/pos/IncubatorPos.java

@@ -1,5 +1,7 @@
 package a8k.app.type.a8k.pos;
 
+import org.springframework.util.Assert;
+
 /**
  * 孵育盘位置 1->20
  */
@@ -37,6 +39,7 @@ public enum IncubatorPos {
 				return pos;
 			}
 		}
+		Assert.isTrue(off >= 0 && off < 20, "IncubatorPos off must be in [0, 19]");
 		return null;
 	}
 }

src/main/java/a8k/app/type/a8k/state/ProjectPreProcessContext.java

@@ -5,31 +5,39 @@ import a8k.app.dao.type.db.ProjExtInfoCard;
 import a8k.app.type.a8k.pos.ConsumableInfo;
 import a8k.app.type.a8k.pos.IncubatorPos;
 import com.fasterxml.jackson.annotation.JsonIgnore;
+import lombok.Data;
+import lombok.Getter;
 
 import java.io.Serializable;
 
+@Data
 public class ProjectPreProcessContext implements Serializable {
-	public String          cxtId          = "";
-	public SampleInfo      sampleInfo     = null;
-	public ConsumableInfo  consumableInfo = null; //耗材信息
-	public Integer         projId         = 0; //项目ID
+	private String          cxtId          = "";
+	private SampleInfo      sampleInfo     = null;
+	private ConsumableInfo  consumableInfo = null; //耗材信息
+	private Integer         projId         = 0; //项目ID
 	@JsonIgnore
-	public ProjBuildInInfo projBuildinInfo;
+	private ProjBuildInInfo projBuildinInfo;
 	@JsonIgnore
-	public ProjExtInfoCard projExtInfoCard;
-	public IncubatorPos    incubatorPos   = null; //孵育盘位置
+	private ProjExtInfoCard projExtInfoCard;
+	private IncubatorPos    incubatorPos   = null; //孵育盘位置
+	private Integer         off            = 0; //项目在样本上的偏移量
+
+	static private long uuid = 0;
 
 	public ProjectPreProcessContext(SampleInfo sampleInfo,
 			ConsumableInfo consumableInfo,
 			Integer projId,
 			ProjBuildInInfo projBuildinInfo,
 			ProjExtInfoCard projExtInfoCard, Integer off) {
-		this.cxtId           = String.format("{}-{}-{}", sampleInfo.sampleId, projId, off);
+		this.cxtId           = String.format("%s-%s-%s-%d", sampleInfo.sampleId, projId, off, uuid++);
 		this.sampleInfo      = sampleInfo;
 		this.consumableInfo  = consumableInfo;
 		this.projId          = projId;
 		this.projBuildinInfo = projBuildinInfo;
 		this.projExtInfoCard = projExtInfoCard;
+		this.incubatorPos    = null; //孵育盘位置
+		this.off             = off;
 	}
 
 	public ProjectPreProcessContext() {

src/main/java/a8k/app/utils/ActionTaskPool.java

@@ -30,6 +30,8 @@ public class ActionTaskPool {
 
 	Map<Enum<?>, AppError> errorMap = new HashMap<>();
 
+	List<BoolCondition> boolConditions = new ArrayList<>();
+
 	public ActionTaskPool(Integer threadNum) {
 		executor = new ThreadPoolExecutor(threadNum, threadNum, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(10));
 	}
@@ -51,13 +53,18 @@ public class ActionTaskPool {
 	}
 
 	public BoolCondition createBoolCondition(String name) {
-		return new BoolCondition(name, () -> errorFlag);
+		var boolCondition = new BoolCondition(name, () -> errorFlag);
+		boolConditions.add(boolCondition);
+		return boolCondition;
 	}
 
 	public void resetState() {
 		errorFlag = false;
 		errorMap.clear();
 		futures.clear();
+		for (var boolCondition : boolConditions) {
+			boolCondition.clear();
+		}
 	}
 
 	public AppError getError(Enum<?> taskLineMaskter) {

src/main/java/a8k/app/utils/ProjectParamUtils.java

@@ -40,18 +40,18 @@ public class ProjectParamUtils {
 	}
 
 	static public PreReactionPos getPreReactionPos(TubeHolder tubeHolder, Tube tube, ProjectPreProcessContext cxt) {
-		A8kReactionFlowType reactionFlowType = cxt.projBuildinInfo.reactionFlowType;
+		A8kReactionFlowType reactionFlowType = cxt.getProjBuildinInfo().reactionFlowType;
 		PreReactionPos      preReactionPos   = new PreReactionPos();
 		switch (reactionFlowType) {
 			case SampleAndBS -> {
 				preReactionPos.type  = ConsumableType.SmallBottleBuffer;
-				preReactionPos.group = cxt.consumableInfo.group;
-				preReactionPos.index = cxt.consumableInfo.pos;
+				preReactionPos.group = cxt.getConsumableInfo().group;
+				preReactionPos.index = cxt.getConsumableInfo().pos;
 			}
 			case SampleAndBSAndProbeSubstance -> {
 				preReactionPos.type  = ConsumableType.ProbeSubstance;
-				preReactionPos.group = cxt.consumableInfo.group;
-				preReactionPos.index = cxt.consumableInfo.pos;
+				preReactionPos.group = cxt.getConsumableInfo().group;
+				preReactionPos.index = cxt.getConsumableInfo().pos;
 			}
 		}
 		return preReactionPos;
@@ -59,17 +59,17 @@ public class ProjectParamUtils {
 
 	static public Integer getSampleUl(ProjectPreProcessContext cxt) {
 		Integer sampleUl = 0;
-		switch (cxt.sampleInfo.bloodType) {
+		switch (cxt.getSampleInfo().bloodType) {
 			case WHOLE_BLOOD -> {
-				sampleUl = cxt.projBuildinInfo.wBloodSampleVolUl;
-				if (cxt.projExtInfoCard.wBloodSampleVolUl > 0) {
-					sampleUl = cxt.projExtInfoCard.wBloodSampleVolUl;
+				sampleUl = cxt.getProjBuildinInfo().wBloodSampleVolUl;
+				if (cxt.getProjExtInfoCard().wBloodSampleVolUl > 0) {
+					sampleUl = cxt.getProjExtInfoCard().wBloodSampleVolUl;
 				}
 			}
 			case SERUM_OR_PLASMA -> {
-				sampleUl = cxt.projBuildinInfo.serumSampleVolUl;
-				if (cxt.projExtInfoCard.serumSampleVolUl > 0) {
-					sampleUl = cxt.projExtInfoCard.serumSampleVolUl;
+				sampleUl = cxt.getProjBuildinInfo().serumSampleVolUl;
+				if (cxt.getProjExtInfoCard().serumSampleVolUl > 0) {
+					sampleUl = cxt.getProjExtInfoCard().serumSampleVolUl;
 				}
 			}
 		} ;

src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunTestCtrlPage.java

@@ -1,5 +1,6 @@
 package a8k.extui.page.driver.pipette_module;
 
+import a8k.OS;
 import a8k.app.hardware.driver.PipetteCtrlDriverV2;
 import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
 import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx;
@@ -30,6 +31,7 @@ public class PipetteGunTestCtrlPage {
 	private Integer        containerPos   = 0; // 默认容器位置
 	@Setter
 	private ContainerCpyId containerCpyId = ContainerCpyId.Default; // 默认容器配置索引
+	private Boolean        breakFlag      = false;
 
 	public ExtApiCurve getAspPressureRecord() throws AppException {
 		var            datas  = pipetteCtrlDriverV2.getAspPressureData();
@@ -48,6 +50,50 @@ public class PipetteGunTestCtrlPage {
 		return getAspPressureRecord();
 	}
 
+	public void breakPipetteTestPumpMoveToX100nlV2() {
+		breakFlag = true;
+	}
+
+	public ExtApiCurve pipetteTestPumpMoveToX100nlV2(Integer x100nl, PMVCpyIdx vcpyidx) throws AppException {
+		pipetteCtrlDriverV2.pipetteTestPumpMoveToX100nl(x100nl, vcpyidx.toInteger());
+		pipetteCtrlDriverV2.zMotorEnable(1);
+		pipetteCtrlDriverV2.zMotorMoveByBlock(-200);
+		pipetteCtrlDriverV2.zMotorEnable(0);
+		breakFlag = false;
+
+		List<Integer> pressures = new ArrayList<>();
+		for (int i = 0; i < 1000; i++) {
+			Integer pressure = pipetteCtrlDriverV2.readPressure();
+			pressures.add(pressure);
+			log.info("read pressure:{}/{}", i, 1000);
+			OS.forceSleep(10);
+			if (breakFlag) {
+				break;
+			}
+		}
+		List<Integer> aspPressures = pipetteCtrlDriverV2.getAspPressureData();
+
+		List<Object[]> points = new ArrayList<>();
+		int            i      = 0;
+		for (Integer pressure : aspPressures) {
+			points.add(new Object[]{i, pressure});
+			log.info("AspPressure: {}", pressure);
+			i++;
+		}
+		points.add(new Object[]{i++, 3000});
+		points.add(new Object[]{i++, 3000});
+		points.add(new Object[]{i++, 3000});
+
+		for (Integer pressure : pressures) {
+			points.add(new Object[]{i, pressure});
+			log.info("AfterAspPressure: {}", pressure);
+			i++;
+		}
+
+
+		return CurveBuilder.buidCurve("压力曲线", "value", "value", 1500, 3100, points);
+	}
+
 	public void pipetteTestLld(LiquidConfigCpyIdx liquidCpyId) throws AppException {
 		pipetteCtrlDriverV2.pipetteTestLld(containerPos, containerCpyId, liquidCpyId);
 	}
@@ -97,6 +143,8 @@ public class PipetteGunTestCtrlPage {
 		page.addFunction("设置容器配置索引", this::setContainerCpyId).setParamVal("containerCpyId", () -> containerCpyId);
 		page.newGroup(" 操作");
 		page.addFunction("单元测试-测试泵机移动到X100nl", this::pipetteTestPumpMoveToX100nl);
+		page.addFunction("单元测试-测试泵机移动到X100nl-V2", this::pipetteTestPumpMoveToX100nlV2);
+		page.addFunction("单元测试-中断-泵机移动到X100nl-V2", this::breakPipetteTestPumpMoveToX100nlV2);
 		page.addFunction("单元测试-测试泵机LLD", this::pipetteTestLld);
 
 		page.addFunction("泵机移动到容器底部", this::pipetteTestMoveToContainerBottom);