20 changed files with 412 additions and 297 deletions
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4src/main/java/a8k/baseservice/appeventbus/AppEventBusService.java
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4src/main/java/a8k/baseservice/appeventbus/appevent/A8kErrorPromptEvent.java
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15src/main/java/a8k/baseservice/appeventbus/appevent/AppWarningNotifyEvent.java
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3src/main/java/a8k/controler/extapi/pagecontrol/ExtApiTabConfig.java
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23src/main/java/a8k/hardware/type/a8kcanprotocol/A8kEcode.java
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63src/main/java/a8k/service/appctrl/AppContrlService.java
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26src/main/java/a8k/service/appctrl/AppCtrlExceptionProcesser.java
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193src/main/java/a8k/service/appctrl/AppCtrlSamplePreProcess.java
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251src/main/java/a8k/service/appctrl/AppCtrlSampleScanService.java
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4src/main/java/a8k/service/appctrl/ReactionPlateProcesser.java
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11src/main/java/a8k/service/appctrl/type/AppCtrlServiceWorkState.java
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17src/main/java/a8k/service/appstate/A8kState.java
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1src/main/java/a8k/service/appstate/AppA8kStateService.java
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59src/main/java/a8k/service/appstate/AppResourceMgrService.java
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5src/main/java/a8k/service/appstate/resource/A8kPublicResourceType.java
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5src/main/java/a8k/service/appstate/type/TubeHolderState.java
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6src/main/java/a8k/service/appstate/type/state/A8kSamplePreProcessState.java
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7src/main/java/a8k/service/appstate/type/state/A8kWorkState.java
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11src/main/java/a8k/service/devicectrl/ctrl/SampleScanTransportCtrl.java
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1src/main/java/a8k/type/exception/AppException.java
@ -1,15 +1,20 @@ |
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package a8k.baseservice.appeventbus.appevent; |
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|
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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|
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public class AppWarningNotifyEvent extends AppEvent { |
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String displayInfo; |
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public Integer errorCode; |
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public String errorCodeStr; |
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|
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AppWarningNotifyEvent(String displayInfo) { |
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public AppWarningNotifyEvent(Integer errorCode) { |
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super(AppWarningNotifyEvent.class.getSimpleName()); |
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this.displayInfo = displayInfo; |
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|
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this.errorCode = errorCode; |
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this.errorCodeStr = A8kEcode.toDisPlayString(errorCode); |
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} |
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|
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public String getDisplayInfo() { |
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return displayInfo; |
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public AppWarningNotifyEvent(A8kEcode ecode) { |
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this(ecode.index); |
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} |
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|
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} |
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@ -0,0 +1,63 @@ |
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package a8k.service.appctrl; |
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|
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import a8k.controler.extapi.pagecontrol.ExtApiTabConfig; |
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import a8k.controler.extapi.utils.ExtApiFn; |
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import a8k.controler.extapi.utils.ExtApiTab; |
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import a8k.service.appctrl.type.AppCtrlServiceWorkState; |
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import a8k.service.appstate.A8kState; |
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import a8k.service.appstate.AppA8kStateService; |
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import a8k.service.appstate.type.state.A8kWorkState; |
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import com.fasterxml.jackson.databind.ObjectMapper; |
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import com.fasterxml.jackson.databind.node.ObjectNode; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Component; |
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|
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@Component |
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@ExtApiTab(cfg = ExtApiTabConfig.AppContrlService) |
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public class AppContrlService { |
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@Resource |
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AppA8kStateService a8kStateService; |
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@Resource |
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AppCtrlSampleScanService sampleScanService; |
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|
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@ExtApiFn(name = "开始工作") |
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public void startWork() { |
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A8kState gstate = a8kStateService.getDeviceState(); |
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gstate.workState = A8kWorkState.WORKING; |
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sampleScanService.setClearErrorPendingFlag(); |
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} |
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|
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@ExtApiFn(name = "停止工作") |
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public void stopWork() { |
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A8kState gstate = a8kStateService.getDeviceState(); |
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gstate.workState = A8kWorkState.IDLE; |
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} |
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|
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@ExtApiFn(name = "暂停工作") |
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public void pauseWork() { |
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A8kState gstate = a8kStateService.getDeviceState(); |
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gstate.workState = A8kWorkState.PAUSE; |
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} |
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|
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@ExtApiFn(name = "继续工作") |
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public void continueWork() { |
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A8kState gstate = a8kStateService.getDeviceState(); |
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gstate.workState = A8kWorkState.WORKING; |
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sampleScanService.setClearErrorPendingFlag(); |
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} |
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|
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|
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@ExtApiFn(name = "获取设备工作状态") |
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public ObjectNode getDeviceWorkState() { |
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ObjectMapper mapper = new ObjectMapper(); |
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ObjectNode json = new ObjectNode(mapper.getNodeFactory()); |
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json.put("sampleScanService", mapper.valueToTree(sampleScanService.getWorkState())); |
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json.put("globalWorkState", mapper.valueToTree(a8kStateService.getDeviceState().workState)); |
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return json; |
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} |
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} |
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@ -1,26 +0,0 @@ |
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package a8k.service.appctrl; |
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import a8k.baseservice.appeventbus.AppEventBusService; |
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import a8k.baseservice.appeventbus.appevent.A8kErrorPromptEvent; |
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.type.exception.AppException; |
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import a8k.utils.state_machine.AppStateMachine; |
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import jakarta.annotation.Resource; |
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import org.springframework.stereotype.Component; |
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@Component |
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public class AppCtrlExceptionProcesser { |
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@Resource |
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AppEventBusService ebus; |
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public void processException(AppStateMachine<?> sm, AppException e) { |
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if (e.getErrorCode().equals(A8kEcode.InfeedOvertimeFail.index)) { |
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sm.selfPause(); |
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} else { |
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sm.selfStop(); |
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} |
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ebus.pushEvent(new A8kErrorPromptEvent(e.getErrorCode())); |
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} |
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} |
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@ -1,193 +0,0 @@ |
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package a8k.service.appctrl; |
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|
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import a8k.baseservice.appeventbus.AppEventBusService; |
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import a8k.baseservice.appeventbus.appevent.A8kErrorPromptEvent; |
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import a8k.controler.extapi.pagecontrol.ExtApiTabConfig; |
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import a8k.controler.extapi.utils.ExtApiFn; |
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import a8k.controler.extapi.utils.ExtApiTab; |
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import a8k.hardware.A8kCanBusService; |
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.hardware.type.a8kcanprotocol.IOId; |
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import a8k.service.appstate.AppA8kStateService; |
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import a8k.service.devicectrl.ctrl.SampleScanTransportCtrl; |
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import a8k.service.devicectrl.ctrl.SamplesPreProcesCtrl; |
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import a8k.type.exception.AppException; |
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import a8k.utils.state_machine.AppStateMachine; |
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import a8k.utils.state_machine.type.event.*; |
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import a8k.utils.state_machine.type.event.base.AppStateMachineEvent; |
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import jakarta.annotation.PostConstruct; |
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import jakarta.annotation.Resource; |
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import org.slf4j.Logger; |
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import org.slf4j.LoggerFactory; |
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import org.springframework.stereotype.Component; |
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@ExtApiTab(cfg = ExtApiTabConfig.AppCtrlSamplePreProcess) |
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@Component |
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public class AppCtrlSamplePreProcess { |
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static Logger logger = LoggerFactory.getLogger(AppCtrlSamplePreProcess.class); |
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public enum Step { |
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IDLE, //空闲 |
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WaitNewTubeHolder, //等待试管架 |
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EnterTubeHolder, //进料 |
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ScanTubeHolderType,//扫描试管架类型 |
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ScanTube,//扫描试管 |
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PreProcessTube,//预处理样本 |
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DisChargeTubeHolder,//出料 |
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} |
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|
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static class TubesScanResult { |
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Boolean isTubeExist = false; |
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Boolean isHighTube = false; |
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String tubeCode = null; |
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public String toString() { |
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return String.format("isTubeExist:%s,isHighTube:%s,tubeCode:%s", isTubeExist, isHighTube, tubeCode); |
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} |
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} |
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; |
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@Resource |
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AppA8kStateService sms; |
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@Resource |
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SamplesPreProcesCtrl sppc; |
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@Resource |
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SampleScanTransportCtrl stc; |
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@Resource |
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A8kCanBusService canBus; |
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@Resource |
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AppCtrlExceptionProcesser acep; |
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@Resource |
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AppEventBusService ebus; |
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AppStateMachine<Step> sm = new AppStateMachine<>(AppCtrlSamplePreProcess.class.getSimpleName()); |
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TubesScanResult[] tubesScanResult = new TubesScanResult[10]; |
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@PostConstruct |
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void init() { |
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sm.regIdleStateProcesser(Step.IDLE, this::processIDLE); |
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sm.regStateProcesser(Step.WaitNewTubeHolder, this::processWaitNewTubeHolder); |
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sm.regStateProcesser(Step.EnterTubeHolder, this::processEnterTubeHolder); |
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sm.regStateProcesser(Step.ScanTubeHolderType, this::processScanTubeHolderType); |
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sm.regStateProcesser(Step.ScanTube, this::processScanTube); |
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sm.regStateProcesser(Step.PreProcessTube, this::processPreProcessTube); |
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sm.regStateProcesser(Step.DisChargeTubeHolder, this::processDisChargeTubeHolder); |
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sm.startSchedule(); |
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} |
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|
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@ExtApiFn(name = "开始工作") |
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public void startWork() throws AppException { |
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if (sm.getCurrentState() != Step.IDLE) { |
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throw new AppException(A8kEcode.A8kIsNotInIdleState.index); |
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} |
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assert sm.getCurrentState() == Step.IDLE; |
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sm.changeState(Step.WaitNewTubeHolder); |
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} |
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public void pauseWork() { |
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sm.usrPause(); |
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} |
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public void continueWork() { |
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sm.usrContinueDo(); |
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} |
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public void stopWork() { |
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sm.usrStop(); |
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} |
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|
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/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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* PRIV 私有方法 |
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*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/ |
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void processIDLE(AppStateMachineEvent event) { |
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// doNothing |
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} |
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|
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//等待新的试管架 |
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void processWaitNewTubeHolder(AppStateMachineEvent event) { |
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if (event instanceof PeriodicSchedulingEvent) { |
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try { |
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if (canBus.getIOState(IOId.InfeedPPS)) { |
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sm.changeState(Step.EnterTubeHolder); |
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} |
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} catch (AppException ignored) { |
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} |
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} |
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} |
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|
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//进料 |
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void processEnterTubeHolder(AppStateMachineEvent event) throws AppException { |
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if (event instanceof StateEnterEvent) { |
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Boolean enterSuc = stc.enterTubeHolder(); |
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if (enterSuc) { |
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sm.changeState(Step.ScanTubeHolderType); |
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} else { |
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stc.ejectTubeHolderInEnterPos(); |
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sm.selfPause(); |
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ebus.pushEvent(new A8kErrorPromptEvent(A8kEcode.InfeedOvertimeFail)); |
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} |
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} else if (event instanceof UsrContinueEvent) { |
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sm.changeState(Step.WaitNewTubeHolder); |
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} |
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} |
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|
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//扫描试管架类型 |
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void processScanTubeHolderType(AppStateMachineEvent event) throws AppException { |
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if (event instanceof StateEnterEvent) { |
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String result = stc.moveTubeRackToScanPosAndScan(); |
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if (result.isEmpty()) { |
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logger.warn("扫描试管架类型失败"); |
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stc.ejectTubeHolder(); |
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ebus.pushEvent(new A8kErrorPromptEvent(A8kEcode.ScanTubeholderTypeTimeout)); |
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} |
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logger.info("扫描试管架类型成功,{}", result); |
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} else if (event instanceof UsrContinueEvent) { |
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sm.changeState(Step.WaitNewTubeHolder); |
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} |
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} |
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|
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//扫描试管编码，高低试管，试管有无 |
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void processScanTube(AppStateMachineEvent event) throws AppException { |
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if (event instanceof StateEnterEvent) { |
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for (int i = 0; i < tubesScanResult.length; i++) { |
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Boolean isTubeExist = stc.moveAndjudgeTubeExist(i); |
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if (isTubeExist) { |
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tubesScanResult[i].isTubeExist = true; |
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tubesScanResult[i].isHighTube = stc.moveAndJudgeTubeAltit(i); |
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tubesScanResult[i].tubeCode = stc.moveTubeToScanPosAndScan(i); |
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} |
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logger.info("扫描试管{}完成,{}", i, tubesScanResult[i]); |
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} |
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|
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Boolean suc = stc.ejectTubeHolder(); |
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if (!suc) { |
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logger.warn("弹出试管架失败"); |
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ebus.pushEvent(new A8kErrorPromptEvent(A8kEcode.EjectTubeholderTimeout)); |
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sm.selfPause(); |
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} else { |
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stc.moveTubeRackMoveToEnterPos(); |
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sm.changeState(Step.PreProcessTube); |
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} |
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} |
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|
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else if (event instanceof UsrContinueEvent) { |
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sm.changeState(Step.WaitNewTubeHolder); |
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} |
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|
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} |
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|
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void processPreProcessTube(AppStateMachineEvent event) {} |
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|
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void processDisChargeTubeHolder(AppStateMachineEvent event) {} |
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|
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|
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} |
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@ -0,0 +1,11 @@ |
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package a8k.service.appctrl.type; |
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|
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import a8k.hardware.type.a8kcanprotocol.A8kEcode; |
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import a8k.service.appstate.type.state.A8kWorkState; |
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|
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public class AppCtrlServiceWorkState { |
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public A8kWorkState workState = A8kWorkState.IDLE; |
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public Boolean errorFlag; |
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public Boolean fatalErrorFlag; |
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public A8kEcode errorCode; |
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} |
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@ -0,0 +1,59 @@ |
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package a8k.service.appstate; |
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|
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|
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import a8k.service.appstate.resource.A8kPublicResourceType; |
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import jakarta.annotation.PostConstruct; |
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import org.springframework.stereotype.Component; |
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|
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import java.util.List; |
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import java.util.Vector; |
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|
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@Component |
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public class AppResourceMgrService { |
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|
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static public class Resource { |
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public A8kPublicResourceType type; |
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public Boolean state = false; |
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public Object ownerNow = null; |
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|
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public Resource(A8kPublicResourceType type) { |
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this.type = type; |
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} |
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} |
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|
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List<Resource> resources = new Vector<>(); |
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|
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@PostConstruct |
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public void init() { |
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for (A8kPublicResourceType type : A8kPublicResourceType.values()) { |
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resources.add(new Resource(type)); |
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} |
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} |
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|
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public Boolean applyForResource(Object applyer, A8kPublicResourceType type) { |
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for (Resource r : resources) { |
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if (r.type == type) { |
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if (r.state) { |
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return false; |
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} |
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r.state = true; |
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r.ownerNow = applyer; |
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return true; |
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} |
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} |
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return false; |
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} |
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|
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public void releaseResource(Object applyer, A8kPublicResourceType type) { |
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for (Resource r : resources) { |
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if (r.type == type) { |
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if (r.ownerNow == applyer) { |
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r.state = false; |
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r.ownerNow = null; |
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} |
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} |
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} |
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} |
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|
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|
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} |
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@ -0,0 +1,5 @@ |
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package a8k.service.appstate.resource; |
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|
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public enum A8kPublicResourceType { |
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SampleTransferXMotor,//样本平移电机 |
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} |
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@ -0,0 +1,6 @@ |
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package a8k.service.appstate.type.state; |
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|
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public enum A8kSamplePreProcessState { |
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PROCESSING, |
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IDLE, |
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} |
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@ -0,0 +1,7 @@ |
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package a8k.service.appstate.type.state; |
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|
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public enum A8kWorkState { |
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IDLE, |
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PAUSE, |
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WORKING, |
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} |
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