update

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

@@ -18,6 +18,9 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Component
 @RequiredArgsConstructor
 @Slf4j
@@ -444,6 +447,24 @@ public class PipetteCtrlDriverV2 {
 		return callcmd(MId.PipetteMod, CmdId.pipette_read_capacitance).getContentI32(0);
 	}
 
+
+	public List<Integer> getAspPressureData() throws AppException {
+		List<Integer> pressuredata = new ArrayList<>();
+		for (int i = 0; ; i++) {
+			A8kPacket packet = callcmd(MId.PipetteMod, CmdId.pipette_get_asp_pressure_data, i);
+			if (packet.getDataLen() == 0) {
+				break;
+			}
+			var content = packet.getContentI16Array();
+			for (Integer val : content) {
+				pressuredata.add(val);
+			}
+		}
+		return pressuredata;
+	}
+
+
+
 	//
 	// UTILS
 	//

src/main/java/a8k/app/hardware/type/A8kPacket.java

@@ -33,7 +33,7 @@ public class A8kPacket {
 	/**
 	 *
 	 * @WARNING
-	 * 	1. 修改这里时，需要注意连同createPacket一起修改
+	 *    1. 修改这里时，需要注意连同createPacket一起修改
 	 *  2. PACKET_MIN_LEN 比Header多一个字节，是因为还有一个字节的校验位
 	 */
 
@@ -99,6 +99,15 @@ public class A8kPacket {
 		return cmdcontent;
 	}
 
+	public int[] getContentI16Array() {
+		int[] ret = new int[getDataLen() / 2];
+		for (int i = 0; i < ret.length; i++) {
+			ret[i] = ByteArray.readS16bit(raw, DATA_OFFSET + i * 2);
+		}
+		return ret;
+	}
+
+
 	public int getContentI32(int index) {
 		return ByteArray.read32bit(raw, DATA_OFFSET + index * 4);
 	}
@@ -220,7 +229,7 @@ public class A8kPacket {
 	}
 
 	public static void main(String[] args) {
-		var packet =  createPacket(41, A8kPacket.PACKET_TYPE_CMD, CmdId.module_stop.index, new Integer[]{});
+		var packet = createPacket(41, A8kPacket.PACKET_TYPE_CMD, CmdId.module_stop.index, new Integer[]{});
 		logger.info("{}", packet.toByteString());
 	}
 

src/main/java/a8k/app/hardware/type/CmdId.java

@@ -203,6 +203,7 @@ public enum CmdId {
 	pipette_read_capacitance(0x758D, "pipette_read_capacitance"),
 	pipette_pump_distribu_all_set_param(0x758E, "pipette_pump_distribu_all_set_param"),  // {paramid,val}, ack:{}
 	pipette_pump_distribu_all(0x758F, "pipette_pump_distribu_all"),  // {}, ack:{}
+	pipette_get_asp_pressure_data(0x7590, "pipette_get_asp_pressure_data"),  // {section_off}, ack:{int16_t data[]}
 
 
 	pipette_test_pump_move_to_x100nl(0x7600, "pipette_test_pump_move_to_x100nl"),  // int32_t x100nl, int32_t vcfgindex

src/main/java/a8k/app/hardware/type/pipette_module/cfg/PipetteCommonConfigIndex.java

@@ -4,6 +4,7 @@ public enum PipetteCommonConfigIndex {
 	pressureRecordEnable,
 	platformInfoCpyid,
 	eachActionDelayTime,
+	aspiratePressureReportExtendTime, // 吸液压力采集延长时间,吸液完成后，多采集压力的时间
 	mark;
 
 	public Integer toInteger() {

src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteCommonConfig.java

@@ -2,6 +2,7 @@ package a8k.app.hardware.type.pipette_module.cfgbean;
 
 import a8k.app.hardware.type.pipette_module.cfg.PipetteCommonConfigIndex;
 import a8k.app.type.exception.AppException;
+import io.swagger.v3.oas.models.security.SecurityScheme;
 
 public class PipetteCommonConfig {
 
@@ -23,10 +24,11 @@ public class PipetteCommonConfig {
 	//
 	// lld
 	//
-	public Integer pressureRecordEnable = 0; // 是否记录压力数据
-	public Integer platformInfoCpyid    = 0; // 平台信息配置索引,当调用initPumpDevice时，如果传入的参数为-1,则使用platformInfoMCpyid
-	public Integer eachActionDelayTime  = 0; // 每个动作之间的延时，单位ms (动作调试使用,方便观察液体变化情况)
-	public Integer mark                 = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
+	public Integer pressureRecordEnable             = 0; // 是否记录压力数据
+	public Integer platformInfoCpyid                = 0; // 平台信息配置索引,当调用initPumpDevice时，如果传入的参数为-1,则使用platformInfoMCpyid
+	public Integer eachActionDelayTime              = 0; // 每个动作之间的延时，单位ms (动作调试使用,方便观察液体变化情况)
+	public Integer aspiratePressureReportExtendTime = 0; // 吸液压力采集延长时间,吸液完成后，多采集压力的时间
+	public Integer mark                             = 0; // 结构体最后一个数值，设置9973，用于保证单片机端和java端均正确更新了枚举
 
 
 	@FunctionalInterface

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

@@ -0,0 +1,84 @@
+package a8k.app.service.module;
+
+import a8k.app.service.data.ReactionRecordMgrService;
+import a8k.app.service.lowerctrl.OptScanModuleCtrlService;
+import a8k.app.service.statemgr.IncubationPlateStateMgrService;
+import a8k.app.service.statemgr.OptScanModuleStateMgrService;
+import a8k.app.teststate.VirtualDevice;
+import a8k.app.utils.ZWorkThread;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+@RequiredArgsConstructor
+public class TurntableAndOptScannerCtrlModule {
+	public enum State {
+		idle,
+		starting,
+		working,
+		stopping,
+	}
+
+	//
+	//状态
+	//
+	private final VirtualDevice                  virtualDevice;
+	private final IncubationPlateStateMgrService incubationPlateStateMgrService;
+	private final OptScanModuleStateMgrService   optScanModuleStateMgrService;
+	//
+	//	数据库
+	//
+	private final ReactionRecordMgrService       reactionRecordMgrService;
+	//
+	//	控制
+	//
+	private final OptScanModuleCtrlService       optScanModuleCtrlService;
+
+
+	private       ZWorkThread workThread;
+	private       State       state         = State.idle;
+	private final Object      stateLock     = new Object();
+	private final Object      turntableLock = new Object();
+
+	@PostConstruct
+	public void init() {
+		state      = State.idle;
+		workThread = new ZWorkThread();
+		workThread.init("TurntableAndOptScannerCtrlModule-WorkThread");
+	}
+
+	public void workThreadFn() {
+		//		while (!workThread.isStopping()) {
+		//		}
+	}
+
+
+	//
+	//	utils
+	//
+	private void setState(State state) {
+		synchronized (stateLock) {
+			this.state = state;
+			log.info("TurntableAndOptScannerCtrlModule state changed to {}", state);
+		}
+	}
+
+	private State getState() {
+		synchronized (stateLock) {
+			return state;
+		}
+	}
+
+	private void waitForState(State state) {
+		while (!getState().equals(state)) {
+			try {
+				Thread.sleep(50);
+			} catch (InterruptedException ignored) {
+			}
+		}
+	}
+
+}

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

@@ -0,0 +1,64 @@
+package a8k.app.service.statemgr;
+
+import a8k.app.constant.AppConstant;
+import a8k.app.type.a8k.ConsumableGroup;
+import a8k.app.type.a8k.container.ReactionPlateContainer;
+import jakarta.annotation.PostConstruct;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+@RequiredArgsConstructor
+public class ReactionPlateContainerStateMgr {
+
+	public ReactionPlateContainer[] reactionPlateGroup = new ReactionPlateContainer[AppConstant.CONSUMABLE_CHANNEL_NUM];
+
+	@PostConstruct
+	void init() {
+		for (int i = 0; i < reactionPlateGroup.length; i++) {
+			reactionPlateGroup[i] = new ReactionPlateContainer();
+		}
+	}
+
+	synchronized void installReactionPlateContainer(ConsumableGroup group, Integer projId, String projName, String projShortName, String lotId, String color, Integer num) {
+		ReactionPlateContainer reactionPlateContainer = reactionPlateGroup[group.off];
+		reactionPlateContainer.projId        = projId;
+		reactionPlateContainer.projName      = projName;
+		reactionPlateContainer.projShortName = projShortName;
+		reactionPlateContainer.lotId         = lotId;
+		reactionPlateContainer.color         = color;
+		reactionPlateContainer.num           = num;
+		reactionPlateContainer.isInstall     = true;
+		reactionPlateContainer.reserveNum    = 0;
+	}
+
+	synchronized void setReactionPlateNum(ConsumableGroup group, Integer num) {
+		log.debug("setReactionPlateNum: group={}, num={}", group, num);
+		ReactionPlateContainer reactionPlateContainer = reactionPlateGroup[group.off];
+		if (reactionPlateContainer.isInstall) {
+			reactionPlateContainer.num = num;
+		} else {
+			log.warn("setReactionPlateNum: Reaction plate container is not installed for group: {}", group);
+		}
+	}
+
+
+	synchronized Boolean popOneReactionPlate(ConsumableGroup group) {
+		log.debug("popOneReactionPlate: group={}", group);
+		ReactionPlateContainer reactionPlateContainer = reactionPlateGroup[group.off];
+		if (reactionPlateContainer.isInstall && reactionPlateContainer.num > 0) {
+			reactionPlateContainer.num--;
+			return true;
+		} else {
+			return false;
+		}
+	}
+
+	synchronized void uninstallReactionPlateContainer(ConsumableGroup group) {
+		log.debug("uninstallReactionPlateContainer: group={}", group);
+		ReactionPlateContainer reactionPlateContainer = reactionPlateGroup[group.off];
+		reactionPlateContainer.reset();
+	}
+}

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

@@ -0,0 +1,100 @@
+package a8k.app.utils;
+
+import org.springframework.util.Assert;
+
+import java.util.concurrent.atomic.AtomicBoolean;
+
+public class ZWorkThread {
+	Thread        thread;
+	Runnable      pendingRunnable;
+	AtomicBoolean workingFlag     = new AtomicBoolean(false);
+	AtomicBoolean stopPendingFlag = new AtomicBoolean(false);
+
+
+	public void init(String name) {
+		thread = new Thread(this::workThread);
+		thread.setName(name);
+		thread.start();
+	}
+
+
+	synchronized public void start(Runnable runnable) {
+		Assert.isTrue(thread != null, "Thread not initialized. Call init() first.");
+
+		if (workingFlag.get()) {
+			stop();
+		}
+		pendingRunnable = runnable;
+	}
+
+	synchronized public void stop() {
+		Assert.isTrue(thread != null, "Thread not initialized. Call init() first.");
+
+		stopPendingFlag.set(true);
+		while (workingFlag.get()) {
+			threadSleep(50);
+		}
+		stopPendingFlag.set(false);
+	}
+
+	public Boolean isStopping() {
+		return stopPendingFlag.get();
+	}
+
+	public Boolean isWorking() {
+		return workingFlag.get();
+	}
+
+
+	private void workThread() {
+		while (true) {
+			Runnable runnable = null;
+			if (pendingRunnable != null) {
+				runnable        = pendingRunnable;
+				pendingRunnable = null;
+			}
+
+			if (runnable == null) {
+				threadSleep(50);
+				continue;
+			}
+
+			workingFlag.set(true);
+			runnable.run();
+			workingFlag.set(false);
+		}
+	}
+
+
+	public void threadSleep(int ms) {
+		try {
+			Thread.sleep(ms);
+		} catch (InterruptedException ignored) {
+		}
+	}
+
+	public static void main(String[] args) throws InterruptedException {
+		ZWorkThread workThread = new ZWorkThread();
+		workThread.init("TestWorkThread");
+
+		workThread.start(() -> {
+			while (!workThread.isStopping()) {
+				System.out.println("Task 1 is running");
+				workThread.threadSleep(100);
+			}
+		});
+
+		Thread.sleep(3000);
+		workThread.stop();
+
+		workThread.start(() -> {
+			while (!workThread.isStopping()) {
+				System.out.println("Task 2 is running");
+				workThread.threadSleep(100);
+			}
+		});
+		Thread.sleep(3000);
+		workThread.stop();
+	}
+
+}

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

@@ -43,6 +43,11 @@ public class PipetteGunCommonConfigPage {
 		pipetteCtrlDriverV2.setCommonConfig(PipetteCommonConfigIndex.eachActionDelayTime, timems);
 	}
 
+	//	aspiratePressureReportExtendTime
+	public void setAspiratePressureReportExtendTime(Integer timems) throws AppException {
+		pipetteCtrlDriverV2.setCommonConfig(PipetteCommonConfigIndex.aspiratePressureReportExtendTime, timems);
+	}
+
 	@PostConstruct
 	void init() {
 		var page = extApiPageMgr.newPage(this);
@@ -53,6 +58,8 @@ public class PipetteGunCommonConfigPage {
 				.setParamVal("platInfoCpyIdx", () -> PlatInfoCpyIdx.of(getVal(PipetteCommonConfigIndex.platformInfoCpyid)));
 		page.addFunction("设置每次动作延时(ms)", this::setEachActionDelayTime)
 				.setParamVal("timems", () -> getVal(PipetteCommonConfigIndex.eachActionDelayTime));
+		page.addFunction("设置吸液压力采集延长时间(ms)", this::setAspiratePressureReportExtendTime)
+				.setParamVal("timems", () -> getVal(PipetteCommonConfigIndex.aspiratePressureReportExtendTime));
 		extApiPageMgr.addPage(page);
 	}
 

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

@@ -7,13 +7,18 @@ import a8k.app.hardware.type.pipette_module.cpyidx.PlatInfoCpyIdx;
 import a8k.app.hardware.type.pipette_module.param.AspirationParam;
 import a8k.app.hardware.type.pipette_module.param.DistribuAllParam;
 import a8k.app.type.exception.AppException;
+import a8k.extui.factory.CurveBuilder;
 import a8k.extui.mgr.ExtApiPageMgr;
+import a8k.extui.type.ret.ExtApiCurve;
 import jakarta.annotation.PostConstruct;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Component
 @RequiredArgsConstructor
 @Slf4j
@@ -23,7 +28,6 @@ public class PipetteGunOperationCtrlPage {
 	private final PipetteCtrlDriverV2 pipetteCtrlDriverV2;
 
 
-
 	AspirationParam  aspirateParam   = new AspirationParam();
 	DistribuAllParam distributeParam = new DistribuAllParam();
 
@@ -40,7 +44,7 @@ public class PipetteGunOperationCtrlPage {
 		aspirateParam.containerInfoCpyId = containerInfoCpyId.toInteger();
 	}
 
-	public void setAspirationParamLiquidCfgIndex(PlatInfoCpyIdx liquidCfgIdx) {
+	public void setAspirationParamLiquidCfgIndex(LiquidConfigCpyIdx liquidCfgIdx) {
 		aspirateParam.liquidCfgIdx = liquidCfgIdx.ordinal();
 	}
 
@@ -109,9 +113,10 @@ public class PipetteGunOperationCtrlPage {
 	}
 
 
-	public void execAspirate() throws AppException {
+	public ExtApiCurve execAspirate() throws AppException {
 		pipetteCtrlDriverV2.aspirateSetParam(aspirateParam);
 		pipetteCtrlDriverV2.aspirateBlock();
+		return getAspPressureRecord();
 	}
 
 	public void execDistribute() throws AppException {
@@ -140,6 +145,24 @@ public class PipetteGunOperationCtrlPage {
 		pipetteCtrlDriverV2.pierceThroughBlock(containerCpyId, containerPos);
 	}
 
+	public ExtApiCurve getAspPressureRecord() throws AppException {
+		var            datas  = pipetteCtrlDriverV2.getAspPressureData();
+		Integer        i      = 0;
+		List<Object[]> points = new ArrayList<>();
+		for (var data : datas) {
+			points.add(new Object[]{i, data});
+			i++;
+		}
+		return CurveBuilder.buidCurve("压力曲线", "value", "value", 2000, 3000, points);
+	}
+
+	public Integer readPressure() throws AppException {
+		return pipetteCtrlDriverV2.readPressure();
+	}
+
+	public Integer readCapacity() throws AppException {
+		return pipetteCtrlDriverV2.readCapacitance();
+	}
 
 	@PostConstruct
 	void init() {
@@ -147,7 +170,7 @@ public class PipetteGunOperationCtrlPage {
 		page.newGroup("配置吸液参数");
 		page.addFunction("设置吸取体积", this::setAspirationParamVolume).setParamVal("volume", () -> aspirateParam.volume);
 		page.addFunction("设置容器位置", this::setAspirationParamContainerPos).setParamVal("containerPos", () -> aspirateParam.containerPos);
-		page.addFunction("设置容器信息", this::setAspirationParamContainerInfoIndex).setParamVal("containerInfoCpyId", () ->ContainerCpyId.of(aspirateParam.containerInfoCpyId));
+		page.addFunction("设置容器信息", this::setAspirationParamContainerInfoIndex).setParamVal("containerInfoCpyId", () -> ContainerCpyId.of(aspirateParam.containerInfoCpyId));
 		page.addFunction("设置液体配置", this::setAspirationParamLiquidCfgIndex).setParamVal("liquidCfgIdx", () -> LiquidConfigCpyIdx.of(aspirateParam.liquidCfgIdx));
 		page.addFunction("设置吸取模式", this::setAspirationParamAspirationMode).setParamVal("aspirationMode", () -> aspirateParam.aspirationMode);
 		page.addFunction("设置LLDEnable", this::setAspirationParamLldEnable).setParamVal("lldEnable", () -> aspirateParam.lldEnable);
@@ -177,6 +200,11 @@ public class PipetteGunOperationCtrlPage {
 		page.addFunction("吸取", this::execAspirate);
 		page.addFunction("分配全部", this::execDistribute);
 
+		page.newGroup(" 数据");
+		page.addFunction("获取吸液压力记录", this::getAspPressureRecord);
+		page.addFunction("读取压力", this::readPressure);
+		page.addFunction("读取电容", this::readCapacity);
+
 
 		extApiPageMgr.addPage(page);
 	}

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

@@ -6,7 +6,9 @@ import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId;
 import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx;
 import a8k.app.hardware.type.pipette_module.cpyidx.PMVCpyIdx;
 import a8k.app.type.exception.AppException;
+import a8k.extui.factory.CurveBuilder;
 import a8k.extui.mgr.ExtApiPageMgr;
+import a8k.extui.type.ret.ExtApiCurve;
 import jakarta.annotation.PostConstruct;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
@@ -14,6 +16,9 @@ import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
+
 @Component
 @RequiredArgsConstructor
 @Slf4j
@@ -27,9 +32,21 @@ public class PipetteGunTestCtrlPage {
 	@Setter
 	private ContainerCpyId containerCpyId = ContainerCpyId.Default; // 默认容器配置索引
 
+	public ExtApiCurve getAspPressureRecord() throws AppException {
+		var            datas  = pipetteCtrlDriverV2.getAspPressureData();
+		Integer        i      = 0;
+		List<Object[]> points = new ArrayList<>();
+		for (var data : datas) {
+			points.add(new Object[]{i, data});
+			i++;
+		}
+		return CurveBuilder.buidCurve("压力曲线", "value", "value", 2000, 3000, points);
+	}
+
 
-	public void pipetteTestPumpMoveToX100nl(Integer x100nl, PMVCpyIdx vcpyidx) throws AppException {
+	public ExtApiCurve pipetteTestPumpMoveToX100nl(Integer x100nl, PMVCpyIdx vcpyidx) throws AppException {
 		pipetteCtrlDriverV2.pipetteTestPumpMoveToX100nl(x100nl, vcpyidx.toInteger());
+		return getAspPressureRecord();
 	}
 
 	public void pipetteTestLld(LiquidConfigCpyIdx liquidCpyId) throws AppException {
@@ -67,7 +84,8 @@ public class PipetteGunTestCtrlPage {
 	public void pipetteTestMoveToPiercePos() throws AppException {
 		pipetteCtrlDriverV2.pipetteTestMoveToPiercePos(containerPos, containerCpyId);
 	}
-		public void pipetteTestMoveToLldEndPos() throws AppException {
+
+	public void pipetteTestMoveToLldEndPos() throws AppException {
 		pipetteCtrlDriverV2.pipetteTestMoveToLldEndPos(containerPos, containerCpyId);
 	}