小缓冲液

pom.xml

@@ -20,7 +20,7 @@
         <dependency>
             <groupId>com.iflytop</groupId>
             <artifactId>uf</artifactId>
-            <version>0.0.19</version>
+            <version>0.0.20</version>
         </dependency>
     </dependencies>
 

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();
+    }
 }

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() {

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<String,Object> dispenseParams = Map.of("tubeX", tubeX, "tubeY", tubeY);
+
+        String snippetKey = "SampleReactionAtDetectionTube";
+        if ( "BufferTube".equals(tube.type) ) {
+            snippetKey = "SampleReactionAtBufferTube";
+        }
+        UfCmdSnippetExecutor.execute(snippetKey, dispenseParams);
+    }
 }

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;
+}

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<BufferTubeZone> 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");
+    }
+}

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;
+}