EPP0.5/EPP1.5

pom.xml

@@ -20,7 +20,7 @@
         <dependency>
             <groupId>com.iflytop</groupId>
             <artifactId>uf</artifactId>
-            <version>0.0.20</version>
+            <version>0.0.21</version>
         </dependency>
     </dependencies>
 

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

@@ -1,6 +1,7 @@
 package com.iflytop.a800.controller;
 import com.iflytop.a800.device.Device;
 import com.iflytop.a800.resource.BufferTube;
+import com.iflytop.uf.UfActuatorCmdExecutor;
 import com.iflytop.uf.controller.UfApiControllerBase;
 import com.iflytop.uf.controller.UfApiResponse;
 import org.springframework.stereotype.Controller;
@@ -41,4 +42,37 @@ public class DemoController extends UfApiControllerBase {
         pipette.aspirateFromLargeBufferTube(tube, 50);
         return this.success();
     }
+
+    @PostMapping("/api/demo/pipette-aspirate-from-emergency-tube")
+    @ResponseBody
+    public UfApiResponse pipetteAspirateFromEmergencyTube() {
+        var pipette = Device.getInstance().pipette;
+        pipette.aspirateFromEmergencyTube(0, 100);
+        UfActuatorCmdExecutor.execute("Pipette","pipette_ctrl_move_to_ul", "0");
+        pipette.aspirateFromEmergencyTube(1, 100);
+        UfActuatorCmdExecutor.execute("Pipette","pipette_ctrl_move_to_ul", "0");
+        return this.success();
+    }
+
+    @PostMapping("/api/demo/pipette-aspirate-from-sample-epp-0.5")
+    @ResponseBody
+    public UfApiResponse pipetteAspirateFromSampleEpp05() {
+        var pipette = Device.getInstance().pipette;
+        for ( int i=0; i<10; i++) {
+            pipette.aspirateFromSampleEpp0_5(i, 100);
+            UfActuatorCmdExecutor.execute("Pipette","pipette_ctrl_move_to_ul", "0");
+        }
+        return this.success();
+    }
+
+    @PostMapping("/api/demo/pipette-aspirate-from-sample-epp-1.5")
+    @ResponseBody
+    public UfApiResponse pipetteAspirateFromSampleEpp1_5() {
+        var pipette = Device.getInstance().pipette;
+        for ( int i=0; i<10; i++) {
+            pipette.aspirateFromSampleEpp1_5(i, 100);
+            UfActuatorCmdExecutor.execute("Pipette","pipette_ctrl_move_to_ul", "0");
+        }
+        return this.success();
+    }
 }

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

@@ -163,15 +163,68 @@ public class Pipette {
         this.aspirateWithLiquidLevelFollow(volume, depth);
     }
 
+    // 从急诊试管吸液
+    public void aspirateFromEmergencyTube( Integer index, Integer volume ) {
+        UfCmdSnippetExecutor.execute(String.format("PipetteAspirateFromEmergencyTubePrepare.%d", index));
+
+        var maxDepth = UfMdbOption.getInteger("EmergencyTubeLiquidDetectMaxDepth");
+        var threshold = UfMdbOption.getInteger("EmergencyTubeLiquidDetectThreshold");
+        this.moveToLiquidLevel(maxDepth, threshold);
+
+        Double coefficient = UfMdbOption.getDouble("EmergencyTubeLiquidLevelFollowCoefficient");
+        Integer depth = (int)(coefficient * volume);
+        this.aspirateWithLiquidLevelFollow(volume, depth);
+    }
+
+    // 从样本Epp0.5吸液
+    public void aspirateFromSampleEpp0_5( Integer index, Integer volume ) {
+        var tubeRackTubeStartPos = UfMdbOption.getInteger("SampleTubeRackTubeStartPos");
+        var tubeRackTubeDistance = UfMdbOption.getInteger("SampleTubeRackTubeDistance");
+        Map<String,Object> params = Map.of("tubePos", tubeRackTubeStartPos + index * tubeRackTubeDistance);
+        UfCmdSnippetExecutor.execute("PipetteAspirateFromSampleEpp0.5", params);
+
+        var maxDepth = UfMdbOption.getInteger("SampleTubeRackEpp0.5TubeLiquidDetectMaxDepth");
+        var threshold = UfMdbOption.getInteger("SampleTubeRackEpp0.5TubeLiquidDetectThreshold");
+        this.moveToLiquidLevel(maxDepth, threshold);
+
+        Double coefficient = UfMdbOption.getDouble("SampleTubeRackEpp0.5TubeLiquidLevelFollowCoefficient");
+        Integer depth = (int)(coefficient * volume);
+        this.aspirateWithLiquidLevelFollow(volume, depth);
+    }
+
+    // 从样本Epp0.5吸液
+    public void aspirateFromSampleEpp1_5( Integer index, Integer volume ) {
+        var tubeRackTubeStartPos = UfMdbOption.getInteger("SampleTubeRackTubeStartPos");
+        var tubeRackTubeDistance = UfMdbOption.getInteger("SampleTubeRackTubeDistance");
+        Map<String,Object> params = Map.of("tubePos", tubeRackTubeStartPos + index * tubeRackTubeDistance);
+        UfCmdSnippetExecutor.execute("PipetteAspirateFromSampleEpp1.5", params);
+
+        var maxDepth = UfMdbOption.getInteger("SampleTubeRackEpp1.5TubeLiquidDetectMaxDepth");
+        var threshold = UfMdbOption.getInteger("SampleTubeRackEpp1.5TubeLiquidDetectThreshold");
+        this.moveToLiquidLevel(maxDepth, threshold);
+
+        Double coefficient = UfMdbOption.getDouble("SampleTubeRackEpp1.5TubeLiquidLevelFollowCoefficient");
+        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;
+            int capMatchCount = 0;
+            for ( int i=0; i<3; i++) {
+                String capValStr = UfActuatorCmdExecutor.execute("Pipette", "read_pipette_capacitance_val");
+                LOG.info("[Pipette] Capacitance value : {}; threshold : {}", capValStr, threshold);
+                int capVal = Integer.parseInt(capValStr);
+                if ( capVal > threshold ) {
+                    capMatchCount ++;
+                }
+                UfCommon.delay(10);
+            }
+            if ( 1 < capMatchCount ) {
+                break ;
             }
 
             depth += stepDepth;