1

pom.xml

@@ -20,7 +20,7 @@
         <dependency>
             <groupId>com.iflytop</groupId>
             <artifactId>uf</artifactId>
-            <version>0.0.12</version>
+            <version>0.0.19</version>
         </dependency>
     </dependencies>
 

src/main/java/com/iflytop/a800/ResourceLockManager.java

@@ -0,0 +1,53 @@
+package com.iflytop.a800;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+public class ResourceLockManager {
+    // lock map
+    private final Map<String, List<Object>> locks = new HashMap<>();
+    // singleton
+    private static final ResourceLockManager instance = new ResourceLockManager();
+
+    // get instance
+    public static ResourceLockManager getInstance() {
+        return instance;
+    }
+
+    // lock
+    public Object lock( String resName ) {
+        Object lock = new Object();
+        synchronized ( this.locks ) {
+            var locks = this.locks.computeIfAbsent(resName, k -> new ArrayList<>());
+            if ( locks.isEmpty() ) {
+                locks.add(lock);
+                return lock;
+            }
+            locks.add(lock);
+        }
+        synchronized ( lock ) {
+            try {
+                lock.wait();
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+        return lock;
+    }
+
+    // unlock
+    public void unlock( String resName, Object lock ) {
+        Object nextLock = null;
+        synchronized ( this.locks ) {
+            var locks = this.locks.get(resName);
+            if ( null == locks ) {
+                return ;
+            }
+            locks.remove(lock);
+            nextLock = locks.isEmpty() ? null : locks.get(0);
+        }
+        synchronized ( nextLock ) {
+            nextLock.notify();
+        }
+    }
+}

src/main/java/com/iflytop/a800/Task.java

@@ -0,0 +1,5 @@
+package com.iflytop.a800;
+public interface Task {
+    // start this task
+    void start();
+}

src/main/java/com/iflytop/a800/TaskBase.java

@@ -0,0 +1,36 @@
+package com.iflytop.a800;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+abstract public class TaskBase extends Thread implements Task {
+    // 事件回调
+    public interface EventCallback {
+        void callback( Task task, List<Object> args );
+    }
+
+    // 事件回调列表
+    public Map<String,List<EventCallback>> eventCallbacks = new HashMap<>();
+
+    // 追加事件回调
+    public void on( String name, EventCallback callback ) {
+        if ( !eventCallbacks.containsKey(name) ) {
+            eventCallbacks.put(name, new ArrayList<>());
+        }
+        eventCallbacks.get(name).add(callback);
+    }
+
+    // 触发事件
+    public void emit( String name, List<Object> args ) {
+        if ( !eventCallbacks.containsKey(name) ) {
+            return;
+        }
+        for ( var callback : eventCallbacks.get(name) ) {
+            callback.callback(this, args);
+        }
+    }
+
+
+    public void lockRes() {}
+    public void unlockRes() {}
+}

src/main/java/com/iflytop/a800/TaskManager.java

@@ -0,0 +1,28 @@
+package com.iflytop.a800;
+import jakarta.annotation.PostConstruct;
+import org.springframework.stereotype.Component;
+import java.util.ArrayList;
+import java.util.List;
+@Component
+public class TaskManager {
+    // list of tasks
+    private final List<Task> tasks = new ArrayList<Task>();
+    // singleton instance
+    private static TaskManager instance;
+
+    // get instance
+    public static TaskManager getInstance() {
+        return instance;
+    }
+
+    @PostConstruct
+    public void init() {
+        instance = this;
+    }
+
+    // append task
+    public void append( Task task ) {
+        tasks.add(task);
+        task.start();
+    }
+}

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

@@ -0,0 +1,25 @@
+package com.iflytop.a800.controller;
+import com.iflytop.a800.device.Device;
+import com.iflytop.uf.controller.UfApiControllerBase;
+import com.iflytop.uf.controller.UfApiResponse;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+@Controller
+public class DemoController extends UfApiControllerBase {
+    @PostMapping("/api/demo/pipette-tip-pick-up")
+    @ResponseBody
+    public UfApiResponse pipetteTipPickUp() {
+        var pipette = Device.getInstance().pipette;
+        pipette.tipPickUp();
+        return this.success();
+    }
+
+    @PostMapping("/api/demo/pipette-tip-drop")
+    @ResponseBody
+    public UfApiResponse pipetteTipDrop() {
+        var pipette = Device.getInstance().pipette;
+        pipette.tipDrop();
+        return this.success();
+    }
+}

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

@@ -0,0 +1,22 @@
+package com.iflytop.a800.controller;
+import com.iflytop.a800.TaskManager;
+import com.iflytop.a800.task.TubeRackTask;
+import com.iflytop.uf.controller.UfApiControllerBase;
+import com.iflytop.uf.controller.UfApiResponse;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.ResponseBody;
+@Controller
+public class TaskController extends UfApiControllerBase {
+    @Resource
+    private TaskManager taskManager;
+
+    @PostMapping("/api/task/tube-rack-append")
+    @ResponseBody
+    public UfApiResponse tubeRackAppend() {
+        var task = new TubeRackTask();
+        this.taskManager.append(task);
+        return this.success();
+    }
+}

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

@@ -0,0 +1,14 @@
+package com.iflytop.a800.device;
+public class Device {
+    // singleton instance
+    private static final Device instance = new Device();
+    // feeder
+    public final Feeder feeder = new Feeder();
+    // pipette
+    public final Pipette pipette = new Pipette();
+
+    // get instance
+    public static Device getInstance() {
+        return instance;
+    }
+}

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

@@ -0,0 +1,42 @@
+package com.iflytop.a800.device;
+import com.iflytop.uf.UfCmdSnippetExecutor;
+public class Feeder {
+    // 试管架进料
+    public void feed() {
+        UfCmdSnippetExecutor.execute("FeedTubeRackFeed");
+    }
+
+    // 试管架出料
+    public void exit() {
+        UfCmdSnippetExecutor.execute("FeedTubeRackExit");
+    }
+
+    // 读取试管架类型
+    public Number readTubeRackType() {
+        UfCmdSnippetExecutor.execute("FeedTubeRackTypeReadPrepare");
+        return 1;
+    }
+
+    // 读取试管是否存在
+    public Boolean readIsTestTubeExisted(int i) {
+        UfCmdSnippetExecutor.execute("FeedTubeRackTubeExistsCheckPrepare");
+        return false;
+    }
+
+    // 读取是否为5ml管
+    public Boolean readIsWb5ml(int i) {
+        UfCmdSnippetExecutor.execute("FeedTubeRackTubeIsWb5mlCheckPrepare");
+        return true;
+    }
+
+    // 读取条码
+    public String readBarCode(int i) {
+        UfCmdSnippetExecutor.execute("FeedTubeRackTubeBarCodeScan");
+        return "1222";
+    }
+
+    // 准备
+    public void prepareForTesting() {
+        UfCmdSnippetExecutor.execute("FeedTubeRackPrepareForTesting");
+    }
+}

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

@@ -0,0 +1,4 @@
+package com.iflytop.a800.device;
+
+public class Incubator {
+}

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

@@ -0,0 +1,117 @@
+package com.iflytop.a800.device;
+import com.iflytop.uf.UfActuatorCmdExecutor;
+import com.iflytop.uf.UfCmdSnippetExecutor;
+import com.iflytop.uf.model.UfMdbOption;
+import com.iflytop.uf.util.UfCommon;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+public class Pipette {
+    // logger
+    public static final Logger LOG = LoggerFactory.getLogger(Pipette.class);
+    // if pipette has tip
+    private Boolean hasTip = false;
+    // tip amount list
+    private final List<Integer> tipAmountList = new ArrayList<>();
+
+    //
+    public Pipette() {
+        // @TODO : 删除下面三行，测试用
+        this.tipAmountList.add(0);
+        this.tipAmountList.add(120-29);
+        this.tipAmountList.add(120);
+    }
+
+    // set tip amount
+    public void setTipAmount( Integer index, Integer amount ) {
+        this.tipAmountList.set(index, amount);
+    }
+
+    // pick up tip
+    public void tipPickUp() {
+        if ( this.hasTip ) {
+            return ;
+        }
+
+        int zoneIndex = -1;
+        int tipIndex = -1;
+        for ( int i = 0; i < this.tipAmountList.size(); i++ ) {
+            if ( this.tipAmountList.get(i) > 0 ) {
+                zoneIndex = i;
+                tipIndex = 120 - this.tipAmountList.get(i);
+                break;
+            }
+        }
+        if ( -1 == zoneIndex ) {
+            throw new RuntimeException("No tip available");
+        }
+        this.tipAmountList.set(zoneIndex, 120 - tipIndex -1);
+
+        Integer zoneStartX = UfMdbOption.getInteger(String.format("PipetteTipZoneStartX.%d", zoneIndex), 0);
+        Integer zoneStartY = UfMdbOption.getInteger(String.format("PipetteTipZoneStartY.%d", zoneIndex), 0);
+        Integer zoneZ = UfMdbOption.getInteger(String.format("PipetteTipZoneZ.%d", zoneIndex), 0);
+        Integer distanceX = UfMdbOption.getInteger("PipetteTipDistanceX", 0);
+        Integer distanceY = UfMdbOption.getInteger("PipetteTipDistanceY", 0);
+        Integer indexX = tipIndex % 12;
+        Integer indexY = tipIndex / 12;
+        Integer x = zoneStartX + indexX * distanceX;
+        Integer y = zoneStartY + indexY * distanceY;
+
+        Map<String,Object> pickUpParams = Map.of("tipX", x, "tipY", y, "tipZ", zoneZ);
+        // 尝试三次拾取枪头
+        for ( int i=0; i<3; i++ ) {
+            LOG.info("[Pipette] Pick up tip at [{},{}](x={}, y={}, z={})", indexX, indexY, x, y, zoneZ);
+            UfCmdSnippetExecutor.execute("PipetteTipPickUp", pickUpParams);
+            String tipState = UfActuatorCmdExecutor.execute("Pipette", "read_pipette_tip_state");
+            if ("1".equals(tipState)) {
+                break ;
+            }
+
+        }
+
+        String tipState = UfActuatorCmdExecutor.execute("Pipette", "read_pipette_tip_state");
+        if ("0".equals(tipState)) {
+            this.tipPickUp();
+            return ; // 如果拾取失败，则跳过这个TIP取下一个
+        }
+        this.hasTip = true;
+    }
+
+    // 丢弃枪头
+    public void tipDrop() {
+        if ( !this.hasTip ) {
+            return ;
+        }
+
+        LOG.info("[Pipette] Drop tip");
+        UfCmdSnippetExecutor.execute("PipetteTipDrop");
+        for ( int i=0; i<10; i++ ) {
+            if ( !this.isTipExistOnPipette() ) {
+                break;
+            }
+            UfCommon.delay(500);
+            UfActuatorCmdExecutor.execute("Pipette", "pipette_ctrl_put_tip");
+            LOG.info("[Pipette] Drop tip : retry {}", i);
+        }
+        if ( this.isTipExistOnPipette() ) {
+            throw new RuntimeException("Failed to drop tip");
+        }
+        UfCmdSnippetExecutor.execute("ArmReset");
+        this.hasTip = false;
+    }
+
+    // check if tip exists on pipette by reading tip state
+    private Boolean isTipExistOnPipette() {
+        int existsCount = 0;
+        for ( int i=0; i<3; i++ ) {
+            String tipState = UfActuatorCmdExecutor.execute("Pipette", "read_pipette_tip_state");
+            if ("1".equals(tipState)) {
+                existsCount++;
+            }
+            UfCommon.delay(100);
+        }
+        return existsCount > 1;
+    }
+}

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

@@ -0,0 +1,4 @@
+package com.iflytop.a800.device;
+
+public class Scanner {
+}

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

@@ -0,0 +1,4 @@
+package com.iflytop.a800.device;
+
+public class Shaker {
+}

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

@@ -0,0 +1,4 @@
+package com.iflytop.a800.device;
+
+public class TestCardWarehouse {
+}

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

@@ -0,0 +1,10 @@
+package com.iflytop.a800.resource;
+import com.iflytop.a800.task.TubeTestTask;
+public class TestTube {
+    // is tube existed
+    public Boolean isExisted = false;
+    // tube type
+    public Number type;
+    // tube bar code
+    public String barCode;
+}

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

@@ -0,0 +1,8 @@
+package com.iflytop.a800.resource;
+import java.util.List;
+public class TestTubeRack {
+    // tube rack type
+    public Number type;
+    // list of test tubes
+    public List<TestTube> tubes;
+}

src/main/java/com/iflytop/a800/task/TubeRackTask.java

@@ -0,0 +1,73 @@
+package com.iflytop.a800.task;
+import com.iflytop.a800.Task;
+import com.iflytop.a800.TaskBase;
+import com.iflytop.a800.TaskManager;
+import com.iflytop.a800.device.Device;
+import com.iflytop.a800.resource.TestTube;
+import com.iflytop.a800.resource.TestTubeRack;
+import java.util.ArrayList;
+import java.util.List;
+public class TubeRackTask extends TaskBase {
+    // sampling tubes
+    private List<TestTube> samplingTubes;
+
+    @Override
+    public void run() {
+        var device = Device.getInstance();
+        var feeder = device.feeder;
+        var taskMan = TaskManager.getInstance();
+
+        feeder.feed();
+        this.samplingTubes = new ArrayList<>();
+        // test tube rack
+        TestTubeRack tubeRack = new TestTubeRack();
+        tubeRack.type = feeder.readTubeRackType();
+        tubeRack.tubes = new ArrayList<>();
+        for (int i = 0; i < 10; i++) {
+            var tube = new TestTube();
+            tubeRack.tubes.add(tube);
+
+            tube.isExisted = feeder.readIsTestTubeExisted(i);
+            if ( !tube.isExisted ) {
+                continue ;
+            }
+
+            this.samplingTubes.add(tube);
+            tube.type = tubeRack.type;
+            if ( !tube.type.equals(1) ) {
+                continue;
+            }
+
+            Boolean isWb5ml = feeder.readIsWb5ml(i);
+            if ( isWb5ml ) {
+                tube.type = 2;
+            }
+
+            tube.barCode = feeder.readBarCode(i);
+
+            var testTask = new TubeTestTask();
+            testTask.tubeRack = tubeRack;
+            testTask.tube = tube;
+            testTask.on("StartIncubating", this::onTubeTaskStartIncubating);
+            taskMan.append(testTask);
+        }
+
+        feeder.prepareForTesting();
+    }
+
+    // tube task finish callback
+    private void onTubeTaskStartIncubating(Task task, List<Object> args ) {
+        TubeTestTask tubeTask = null;
+        if ( !(task instanceof TubeTestTask) ) {
+            return ;
+        }
+
+        tubeTask = (TubeTestTask)task;
+        var tube = tubeTask.tube;
+        this.samplingTubes.remove(tube);
+        if ( !this.samplingTubes.isEmpty() ) {
+            return ;
+        }
+        Device.getInstance().feeder.exit();
+    }
+}

src/main/java/com/iflytop/a800/task/TubeTestTask.java

@@ -0,0 +1,52 @@
+package com.iflytop.a800.task;
+import com.iflytop.a800.TaskBase;
+import com.iflytop.a800.resource.TestTube;
+import com.iflytop.a800.resource.TestTubeRack;
+import com.iflytop.uf.UfCmdSnippetExecutor;
+public class TubeTestTask extends TaskBase {
+    public TestTubeRack tubeRack;
+    public TestTube tube;
+    public String status;
+
+    @Override
+    public void run() {
+        this.shake();
+        this.uncap();
+        this.sampling();
+        this.cap();
+        this.incubate();
+        this.scan();
+    }
+
+    // 摇匀
+    private void shake() {
+        UfCmdSnippetExecutor.execute("SampleTestShake");
+    }
+
+    // 取盖
+    private void uncap() {
+        UfCmdSnippetExecutor.execute("SampleTestUnCap");
+    }
+
+    // 取样
+    private void sampling() {
+        UfCmdSnippetExecutor.execute("SampleTestSamplingFromWb5ml");
+        UfCmdSnippetExecutor.execute("SampleTestSamplingFromBufferTube");
+        UfCmdSnippetExecutor.execute("SampleTestSamplingFromBufferTube");
+    }
+
+    // 盖回
+    private void cap() {
+        UfCmdSnippetExecutor.execute("SampleTestCap");
+    }
+
+    // 孵育
+    private void incubate() {
+        UfCmdSnippetExecutor.execute("SampleTestIncubate");
+    }
+
+    // 扫描
+    private void scan() {
+        UfCmdSnippetExecutor.execute("SampleTestScanResult");
+    }
+}