From cc4de12c3e49bde0f09b9e168149afaefa7d08e9 Mon Sep 17 00:00:00 2001 From: sige Date: Fri, 10 May 2024 14:10:19 +0800 Subject: [PATCH] =?UTF-8?q?=E5=B0=8F=E7=BC=93=E5=86=B2=E6=B6=B2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pom.xml | 2 +- .../iflytop/a800/controller/DemoController.java | 10 +++++++ src/main/java/com/iflytop/a800/device/Device.java | 5 ++++ src/main/java/com/iflytop/a800/device/Pipette.java | 29 ++++++++++++++++-- .../java/com/iflytop/a800/resource/BufferTube.java | 9 ++++++ .../iflytop/a800/resource/BufferTubeManager.java | 34 ++++++++++++++++++++++ .../com/iflytop/a800/resource/BufferTubeZone.java | 5 ++++ 7 files changed, 90 insertions(+), 4 deletions(-) create mode 100644 src/main/java/com/iflytop/a800/resource/BufferTube.java create mode 100644 src/main/java/com/iflytop/a800/resource/BufferTubeManager.java create mode 100644 src/main/java/com/iflytop/a800/resource/BufferTubeZone.java diff --git a/pom.xml b/pom.xml index a46f33b..1e83266 100644 --- a/pom.xml +++ b/pom.xml @@ -20,7 +20,7 @@ com.iflytop uf - 0.0.19 + 0.0.20 diff --git a/src/main/java/com/iflytop/a800/controller/DemoController.java b/src/main/java/com/iflytop/a800/controller/DemoController.java index 919480c..86a1dba 100644 --- a/src/main/java/com/iflytop/a800/controller/DemoController.java +++ b/src/main/java/com/iflytop/a800/controller/DemoController.java @@ -1,5 +1,6 @@ package com.iflytop.a800.controller; import com.iflytop.a800.device.Device; +import com.iflytop.a800.resource.BufferTube; import com.iflytop.uf.controller.UfApiControllerBase; import com.iflytop.uf.controller.UfApiResponse; import org.springframework.stereotype.Controller; @@ -22,4 +23,13 @@ public class DemoController extends UfApiControllerBase { pipette.tipDrop(); return this.success(); } + + @PostMapping("/api/demo/pipette-dispense-detection") + @ResponseBody + public UfApiResponse pipetteDispenseDetection() { + var tube = Device.getInstance().bufferTube.alloc(); + var pipette = Device.getInstance().pipette; + pipette.dispense(tube); + return this.success(); + } } diff --git a/src/main/java/com/iflytop/a800/device/Device.java b/src/main/java/com/iflytop/a800/device/Device.java index 2e6a099..fbd9b65 100644 --- a/src/main/java/com/iflytop/a800/device/Device.java +++ b/src/main/java/com/iflytop/a800/device/Device.java @@ -1,4 +1,7 @@ package com.iflytop.a800.device; + +import com.iflytop.a800.resource.BufferTubeManager; + public class Device { // singleton instance private static final Device instance = new Device(); @@ -6,6 +9,8 @@ public class Device { public final Feeder feeder = new Feeder(); // pipette public final Pipette pipette = new Pipette(); + // buffer tube manager + public final BufferTubeManager bufferTube = new BufferTubeManager(); // get instance public static Device getInstance() { diff --git a/src/main/java/com/iflytop/a800/device/Pipette.java b/src/main/java/com/iflytop/a800/device/Pipette.java index 6a7c9ed..818f800 100644 --- a/src/main/java/com/iflytop/a800/device/Pipette.java +++ b/src/main/java/com/iflytop/a800/device/Pipette.java @@ -1,4 +1,5 @@ package com.iflytop.a800.device; +import com.iflytop.a800.resource.BufferTube; import com.iflytop.uf.UfActuatorCmdExecutor; import com.iflytop.uf.UfCmdSnippetExecutor; import com.iflytop.uf.model.UfMdbOption; @@ -18,10 +19,9 @@ public class Pipette { // 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); + this.tipAmountList.add(0); + this.tipAmountList.add(0); } // set tip amount @@ -114,4 +114,27 @@ public class Pipette { } return existsCount > 1; } + + // move to given position + public void dispense( BufferTube tube ) { + if ( !this.hasTip ) { + throw new RuntimeException("Pipette has no tip"); + } + + Integer startX = UfMdbOption.getInteger(String.format("%sZoneStartX.%d", tube.type, tube.zoneIndex)); + Integer startY = UfMdbOption.getInteger(String.format("%sZoneStartY.%d", tube.type, tube.zoneIndex)); + Integer distanceX = UfMdbOption.getInteger(String.format("%sDistanceX", tube.type)); + Integer distanceY = UfMdbOption.getInteger(String.format("%sDistanceY", tube.type)); + Integer indexX = tube.tubeIndex % 5; + Integer indexY = tube.tubeIndex / 5; + Integer tubeX = startX + indexX * distanceX; + Integer tubeY = startY + indexY * distanceY; + Map dispenseParams = Map.of("tubeX", tubeX, "tubeY", tubeY); + + String snippetKey = "SampleReactionAtDetectionTube"; + if ( "BufferTube".equals(tube.type) ) { + snippetKey = "SampleReactionAtBufferTube"; + } + UfCmdSnippetExecutor.execute(snippetKey, dispenseParams); + } } diff --git a/src/main/java/com/iflytop/a800/resource/BufferTube.java b/src/main/java/com/iflytop/a800/resource/BufferTube.java new file mode 100644 index 0000000..f685389 --- /dev/null +++ b/src/main/java/com/iflytop/a800/resource/BufferTube.java @@ -0,0 +1,9 @@ +package com.iflytop.a800.resource; +public class BufferTube { + // zone index + public Integer zoneIndex; + // tube index + public Integer tubeIndex; + // buffer tube type : buffer, detection + public String type; +} diff --git a/src/main/java/com/iflytop/a800/resource/BufferTubeManager.java b/src/main/java/com/iflytop/a800/resource/BufferTubeManager.java new file mode 100644 index 0000000..2747105 --- /dev/null +++ b/src/main/java/com/iflytop/a800/resource/BufferTubeManager.java @@ -0,0 +1,34 @@ +package com.iflytop.a800.resource; +import java.util.ArrayList; +import java.util.List; +public class BufferTubeManager { + // list of buffer tube zones + private final List zones; + + // constructor + public BufferTubeManager() { + this.zones = new ArrayList<>(); + for (int i = 0; i < 6; i++) { + BufferTubeZone zone = new BufferTubeZone(); + zone.index = i; + zone.tubeAmount = 25; + zones.add(zone); + } + } + + // allocate buffer tube + public BufferTube alloc() { + for (BufferTubeZone zone : zones) { + if (!(zone.tubeAmount > 0)) { + continue; + } + BufferTube tube = new BufferTube(); + tube.zoneIndex = zone.index; + tube.tubeIndex = 25 - zone.tubeAmount; + tube.type = "BufferTube"; + zone.tubeAmount--; + return tube; + } + throw new RuntimeException("No buffer tube available"); + } +} diff --git a/src/main/java/com/iflytop/a800/resource/BufferTubeZone.java b/src/main/java/com/iflytop/a800/resource/BufferTubeZone.java new file mode 100644 index 0000000..74cbe47 --- /dev/null +++ b/src/main/java/com/iflytop/a800/resource/BufferTubeZone.java @@ -0,0 +1,5 @@ +package com.iflytop.a800.resource; +public class BufferTubeZone { + public Integer index; + public Integer tubeAmount; +}