From e1635ccd0aa4f827698a03c885d607fe8f7788db Mon Sep 17 00:00:00 2001 From: zhaohe Date: Tue, 12 Nov 2024 13:38:44 +0800 Subject: [PATCH] update --- .../appctrl/mainflowctrl/action/SEQ5_PROCESS.java | 28 +++-- .../processer/MainFlowStateChangeProcesser.java | 15 ++- .../statemgr/ProjectContextMgrService.java | 5 +- .../app/appstate/statemgr/TubeStateMgrService.java | 19 ++- .../app/background/SensorDataUpdateService.java | 2 +- .../ctrlservice/TubeFeedingCtrlService.java | 4 +- .../devicectrl/exdriver/HbotBaseMoveExDriver.java | 132 +-------------------- .../java/a8k/service/dao/DeviceStatisticDao.java | 10 +- .../a8k/service/test/MainflowCtrlTestService.java | 13 -- 9 files changed, 49 insertions(+), 179 deletions(-) diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java index 7cf4973..e6a9627 100644 --- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java +++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java @@ -29,6 +29,7 @@ import a8k.service.test.state.TestModeState; import a8k.service.test.state.VirtualDevice; import a8k.type.ConsumableGroup; import a8k.type.IncubatorPos; +import a8k.type.ecode.AECodeError; import a8k.type.ecode.AppError; import a8k.type.exception.AppException; import a8k.type.exception.ZAppInterruptException; @@ -78,14 +79,14 @@ public class SEQ5_PROCESS extends A8kStepAction { @Resource PublicAreaResourceMgr publicAreaResourceMgr; @Resource - TubeStateMgrService tubeStateMgrService; + TubeStateMgrService tubeStateMgrService; // // CtrlService // @Resource - PipeGunCtrlScripter pipeGunCtrlScripter; + PipeGunCtrlScripter pipeGunCtrlScripter; @Resource - PlateBoxCtrlService plateBoxCtrlService; + PlateBoxCtrlService plateBoxCtrlService; @Resource TubePreProcesCtrlService tubePreProcesCtrlService; @Resource @@ -313,11 +314,10 @@ public class SEQ5_PROCESS extends A8kStepAction { try ( var ignored = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.HbotArea); ) { - doSampleProcess(cxt); + Boolean cxtIsFinal = cxt.equals(cxts.get(cxts.size() - 1)); + doSampleProcess(cxt, cxtIsFinal); } } - - sampleProcessFinished.set(); } @@ -363,7 +363,8 @@ public class SEQ5_PROCESS extends A8kStepAction { } - void doSampleProcess(ProjectTaskContext cxt) throws AppException, ZAppInterruptException { + void doSampleProcess(ProjectTaskContext cxt, Boolean finalCxt) throws AppException, ZAppInterruptException { + log.info("开始处理样本 cxtid:{} sampleId:{}", cxt.cxtId, cxt.sampleInfo.sampleId); A8kReactionFlowType type = cxt.getProjBuildinInfo().projBaseInfo.reactionFlowType; Consumable consumable = cxt.getConsumable(); ConsumableGroup consumableGroup = consumable.getGroup(); @@ -373,7 +374,9 @@ public class SEQ5_PROCESS extends A8kStepAction { // 1. 在取tip之后，就让移液枪移动到lldprepare的位置（新增一条指令,这条指令在单片机端也是非阻塞的），到lld位置时，在执行lldprepare的指令，这样即不破坏现有框架，也可以提速 // - + // + // 初步反应准备 + // if (type.equals(A8kReactionFlowType.FlowType1)) { log.info("FlowType1:"); doSampleFlowType1PreProcess(cxt); @@ -409,8 +412,14 @@ public class SEQ5_PROCESS extends A8kStepAction { } } + if (finalCxt) { + // 在这里之后，就不再需要样本了，摇匀模组就可以回收样本了 + sampleProcessFinished.set(); + } + // // 初步反应处理 + // { Integer sampleul = ProjProcessContextUtils.getSampleVol(cxt); Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(cxt); @@ -420,7 +429,9 @@ public class SEQ5_PROCESS extends A8kStepAction { pipeGunCtrlScripter.mix(PipetteGunBindActionType.MIX_REACTION_LIQUOR, cxt, sampleul, ProjProcessContextUtils.getBSMixingCnt(cxt)); } + // // 取初步反应混合液到反应板 + // try ( var ignored11 = publicAreaResourceMgr.apply(this.getClass(), PublicAreaResource.IncubationPlateArea); ) { @@ -509,6 +520,7 @@ public class SEQ5_PROCESS extends A8kStepAction { log.warn("{} catch 中断", actionTaskMarker); } catch (Exception e) { log.error("{} catch 异常", actionTaskMarker, e); + error = new AECodeError(e); } Thread.currentThread().setName(oldName); return error; diff --git a/src/main/java/a8k/service/app/appctrl/mainflowctrl/processer/MainFlowStateChangeProcesser.java b/src/main/java/a8k/service/app/appctrl/mainflowctrl/processer/MainFlowStateChangeProcesser.java index 98c7f8e..762e3d8 100644 --- a/src/main/java/a8k/service/app/appctrl/mainflowctrl/processer/MainFlowStateChangeProcesser.java +++ b/src/main/java/a8k/service/app/appctrl/mainflowctrl/processer/MainFlowStateChangeProcesser.java @@ -4,6 +4,7 @@ import a8k.service.app.appctrl.mainflowctrl.MainFlowCtrlScheduler; import a8k.service.app.appctrl.mainflowctrl.base.IMainFlowStateChangeProcesser; import a8k.service.app.appctrl.mainflowctrl.base.MainFlowProcesser; import a8k.service.app.appstate.statemgr.IncubationPlateStateMgrService; +import a8k.service.app.appstate.statemgr.ProjectContextMgrService; import a8k.service.app.appstate.statemgr.TubeStateMgrService; import a8k.service.app.appstate.type.IncubationSubTank; import a8k.service.app.appstate.type.state.IncubationSubTankState; @@ -25,18 +26,18 @@ public class MainFlowStateChangeProcesser implements IMainFlowStateChangeProcess VirtualDevice virtualDevice; @Resource - TubeFeedingCtrlService tubeFeedingCtrlService; + TubeFeedingCtrlService tubeFeedingCtrlService; @Resource - HbotCtrlService hbotCtrlService; + HbotCtrlService hbotCtrlService; @Resource - OptScanModuleCtrlService optScanModuleCtrlService; + OptScanModuleCtrlService optScanModuleCtrlService; @Resource - IncubationPlateStateMgrService incubationPlateStateMgrService; + IncubationPlateStateMgrService incubationPlateStateMgrService; @Resource - TubeStateMgrService tubeStateMgrService; + TubeStateMgrService tubeStateMgrService; @Resource - MainFlowCtrlScheduler mainFlowCtrlScheduler; + ProjectContextMgrService projectContextMgrService; void ejectAllPlates() throws AppException { var tanks = incubationPlateStateMgrService.get().subtanks; @@ -69,6 +70,7 @@ public class MainFlowStateChangeProcesser implements IMainFlowStateChangeProcess @Override public void onStop() throws AppException { doClearDevice(); + projectContextMgrService.clearCxts(); } @Override @@ -81,5 +83,6 @@ public class MainFlowStateChangeProcesser implements IMainFlowStateChangeProcess @Override public void onStart() throws AppException { + } } diff --git a/src/main/java/a8k/service/app/appstate/statemgr/ProjectContextMgrService.java b/src/main/java/a8k/service/app/appstate/statemgr/ProjectContextMgrService.java index 1174c1f..1e4241f 100644 --- a/src/main/java/a8k/service/app/appstate/statemgr/ProjectContextMgrService.java +++ b/src/main/java/a8k/service/app/appstate/statemgr/ProjectContextMgrService.java @@ -24,8 +24,6 @@ import java.util.List; @Component @Slf4j public class ProjectContextMgrService { - @Resource - ConsumablesMgrService consumablesMgrService; List contexts = new ArrayList<>(); @@ -106,4 +104,7 @@ public class ProjectContextMgrService { return ret; } + synchronized public void clearCxts() { + contexts.clear(); + } } diff --git a/src/main/java/a8k/service/app/appstate/statemgr/TubeStateMgrService.java b/src/main/java/a8k/service/app/appstate/statemgr/TubeStateMgrService.java index 2c4d4e2..c446191 100644 --- a/src/main/java/a8k/service/app/appstate/statemgr/TubeStateMgrService.java +++ b/src/main/java/a8k/service/app/appstate/statemgr/TubeStateMgrService.java @@ -58,21 +58,18 @@ public class TubeStateMgrService { private String priGenerateSampleId(Integer tubePos, Boolean isEmergency) { - String sampleid = ""; - Integer cnt = 0; - Date date = new Date(); - - if (isEmergency) { - cnt = deviceStatisticDao.get(StatisticType.EmergencyTubeCnt); - } else { - cnt = deviceStatisticDao.get(StatisticType.TubeHolderCnt); - } - - SimpleDateFormat sdf = new SimpleDateFormat("yyMMdd"); + String sampleid = ""; + Integer cnt = 0; + Date date = new Date(); + SimpleDateFormat sdf = new SimpleDateFormat("yyMMdd"); if (isEmergency) { + cnt = deviceStatisticDao.get(StatisticType.EmergencyTubeCnt, date); sampleid = String.format("%s_%sE", sdf.format(date), cnt); + deviceStatisticDao.setCnt(StatisticType.EmergencyTubeCnt, date, cnt + 1); } else { + cnt = deviceStatisticDao.get(StatisticType.TubeHolderCnt, date); sampleid = String.format("%s_%d%02d", sdf.format(date), cnt, tubePos + 1); + deviceStatisticDao.setCnt(StatisticType.TubeHolderCnt, date, cnt + 1); } return sampleid; } diff --git a/src/main/java/a8k/service/app/background/SensorDataUpdateService.java b/src/main/java/a8k/service/app/background/SensorDataUpdateService.java index ab4dde4..cd409c5 100644 --- a/src/main/java/a8k/service/app/background/SensorDataUpdateService.java +++ b/src/main/java/a8k/service/app/background/SensorDataUpdateService.java @@ -59,7 +59,7 @@ public class SensorDataUpdateService { gStateService.getSensorState().setPboxTemperature((int) (pbtemp + 0.5)); - log.info("IncubateBoxTemperature: {}, PlateBoxTemperature: {}, WasteBinFullFlag: {}", incubateBoxTemp, pbtemp, wasteBinFullFlag); + log.debug("IncubateBoxTemperature: {}, PlateBoxTemperature: {}, WasteBinFullFlag: {}", incubateBoxTemp, pbtemp, wasteBinFullFlag); } catch (InterruptedException e) { break; } catch (AppException e) { diff --git a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeFeedingCtrlService.java b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeFeedingCtrlService.java index 40e16a1..b88c65b 100644 --- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeFeedingCtrlService.java +++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeFeedingCtrlService.java @@ -166,14 +166,14 @@ public class TubeFeedingCtrlService { moveTubeRackToExitPos(); try { stepMotorCtrlDriver.stepMotorEasyRotate(StepMotorMId.FeedingModOutfeedM, 1); + OS.hsleep(2500); for (int i = 0; i < outfeedOvertime / 100; i++) { OS.hsleep(100); - logger.info("getTHchInterPPS:{} getTHchOuterPPS:{}", getTHchInterPPS(), getTHchOuterPPS()); + logger.info("等待试管架弹出 PPS-IN:{} PPS1-Ext:{}", getTHchInterPPS(), getTHchOuterPPS()); if (!getTHchInterPPS() && !getTHchOuterPPS()) { break; } } - OS.hsleep(1000); stepMotorCtrlDriver.stepMotorStop(StepMotorMId.FeedingModOutfeedM); if (getTHchInterPPS() || getTHchOuterPPS()) { throw new AppException(A8kEcode.APPE_EJECT_TUBEHOLDER_TIMEOUT); diff --git a/src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java b/src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java index abe8962..4413cbf 100644 --- a/src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java +++ b/src/main/java/a8k/service/app/devicectrl/exdriver/HbotBaseMoveExDriver.java @@ -47,12 +47,12 @@ public class HbotBaseMoveExDriver { } public void enable(int enable) throws AppException { - hbotDriver.enable(enable); + hbotDriver.enable(enable); } public void hbotMoveTo(Pos3d targetPos) throws AppException { - logger.info("hbotCheckAndMoveTo:{}", targetPos); + logger.debug("hbotCheckAndMoveTo:{}", targetPos); checkBeforeMove(); boolean zEnable = true; boolean hbotEnable = canBus.moduleGetReg(MId.HbotM, RegIndex.kreg_xyrobot_is_enable) == 1; @@ -93,132 +93,4 @@ public class HbotBaseMoveExDriver { } - // public String scan2dCode(Integer waittime) throws AppException { - // try { - // canBus.codeScanerStartScan(MId.PipetteModCodeScanner); - // String result = canBus.codeScanerWaittingForResult(MId.PipetteModCodeScanner, waittime); - // canBus.codeScanerStopScan(MId.PipetteModCodeScanner); - // return result; - // } catch (AppException e) { - // return ""; - // } - // } - // - // - // public void zMoveTo(Integer z) throws AppException { - // if (z == 0) { - // pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock(); - // } else { - // pipetteCtrlModule.zMotorMoveToBlock(z); - // } - // } - // - // private void hbotCheckAndMoveTo(Pos2d targetPos) throws AppException { - // hbotMoveTo(new Pos3d(targetPos.x, targetPos.y, 0)); - // } - - // private void modGroupMoveToZero() throws AppException { - // if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) { - // throw new AppException(A8kEcode.APPE_PLATE_BOX_NOT_COVER); - // } - // - // pipetteCtrlModule.zMotorEnable(1); - // hbotModule.enable(1); - // - // hbotModule.moveToZeroBlock(timep.getHbotRuntoZeroActionOvertime()); - // - // // 丢弃tip - // Pos3d dropPos = pp.getTipDropPos(); - // hbotMoveTo(dropPos); - // // TODO: canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, timep.getActionOvertime()); - // - // // 快速归零 - // modGroupMoveToZeroQuick(); - // } - - // private void modGroupMoveToZeroQuick() throws AppException { - // hbotCheckAndMoveTo(new Pos2d(0, 0)); - // } - - - // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - // 单步测试 - // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - - // @ExtApiFn(name = "丢Tip", group = "单步测试") - // public void dropTip() throws AppException { - // Pos3d pos = pp.getTipDropPos(); - // hbotMoveTo(pos.x, pos.y); - // zMoveTo(pos.z); - // pipetteCtrlModule.putTipBlock(); - // zMoveTo(0); - // } - // - // @ExtApiFn(name = "取Tip", group = "单步测试") - // public Boolean takeTip(TipGroup tipGroup, Integer index) throws AppException { - // logger.info("takeTip groupId:{} index:{}", tipGroup.ordinal(), index); - // - // if (index > TipPickUpPosInfo.cgetTipNum() || index < 0) { - // throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE); - // } - // - // TipPickUpPosInfo tipPos = pp.getTipPickUpPosInfo(); - // Pos2d pos = tipPos.getTipPos(tipGroup.ordinal(), index); - // hbotMoveTo(pos.x, pos.y); - // - // //TODO: 补偿，group大于1时，z轴需要补偿0.2mm - // Integer zCompensate = 0; - // if (tipGroup.ordinal() > 1) { - // zCompensate = 2; - // } - // - // pipetteCtrlModule.zMotorMoveToBlock(tipPos.getPickUpZPos(tipGroup.ordinal()) + zCompensate); - // pipetteCtrlModule.zMotorMoveToZeroPointQuickBlock(); - // - // Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1; - // if (!isGetTip) { - // logger.error("takeTip fail"); - // } - // return isGetTip; - // } - - // @ExtApiFn(name = "HBot移动到", group = "单步测试") - // public void hbotMoveTo(Integer x, Integer y) throws AppException { - // hbotCheckAndMoveTo(new Pos2d(x, y)); - // } - - // @ExtApiFn(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试") - // public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole) - // throws AppException { - // BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo(); - // if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) { - // throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE); - // } - // Pos2d pos = posInfo.cgetSmallBottleBufferPos(group.off, Xhole); - // hbotCheckAndMoveTo(pos); - // } - // - // @ExtApiFn(name = "HBot移动到探测物质X孔", group = "单步测试") - // public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole) - // throws AppException { - // BottleGroupsPosInfo posInfo = pp.getBottleBufferPosInfo(); - // if (Xhole < 0 || Xhole > BottlesPosInfo.cgetMAX()) { - // throw new AppException(A8kEcode.CODEERROR_PARAM_OUT_OF_RANGE); - // } - // Pos2d pos = posInfo.cgetDetectMaterialPos(group.off, Xhole); - // hbotCheckAndMoveTo(pos); - // } - // - // @ExtApiFn(name = "HBot移动到大瓶缓冲液X孔", group = "单步测试") - // public void hbotMoveToLargeBottleGroup(ConsumableGroup ch) throws AppException { - // LargeBottleBufferPos posInfo = pp.getLargeBottleBufferPosInfo(); - // Pos2d pos = posInfo.cgetBottlePos(ch.off); - // hbotCheckAndMoveTo(pos); - // } - // - // @ExtApiFn(name = "HBot移动到急诊位", group = "单步测试") - // public void hbotMoveToEmergencyPos() throws AppException { - // hbotMoveTo(pp.getEmergencyPos()); - // } - } diff --git a/src/main/java/a8k/service/dao/DeviceStatisticDao.java b/src/main/java/a8k/service/dao/DeviceStatisticDao.java index ff99595..b4c0d8c 100644 --- a/src/main/java/a8k/service/dao/DeviceStatisticDao.java +++ b/src/main/java/a8k/service/dao/DeviceStatisticDao.java @@ -49,10 +49,9 @@ public class DeviceStatisticDao { } } - public void add(StatisticType statisticType, Integer cnt) { - Date now = new Date(); + public void setCnt(StatisticType statisticType, Date date, Integer cnt) { SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd"); - String today = sdf.format(now); + String today = sdf.format(date); List statisticList = jdbcTemplate.query("select * from " + tableName + " where statisticDate = ? and statisticType = ?", this::rowMapper, today, statisticType); @@ -69,10 +68,9 @@ public class DeviceStatisticDao { } } - public Integer get(StatisticType type) { - Date now = new Date(); + public Integer get(StatisticType type, Date date) { SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd"); - String today = sdf.format(now); + String today = sdf.format(date); List statisticList = jdbcTemplate.query("select * from " + tableName + " where statisticDate = ? and statisticType = ?", this::rowMapper, today, type); if (statisticList.isEmpty()) { diff --git a/src/main/java/a8k/service/test/MainflowCtrlTestService.java b/src/main/java/a8k/service/test/MainflowCtrlTestService.java index dd4c710..3489a6f 100644 --- a/src/main/java/a8k/service/test/MainflowCtrlTestService.java +++ b/src/main/java/a8k/service/test/MainflowCtrlTestService.java @@ -327,19 +327,6 @@ public class MainflowCtrlTestService { } - @ExtApiFn(name = "执行一次简单的测试(虚拟测试.流程1)", order = 400) - public String doSimpleVirtualTest(Boolean isHTube, Integer tubeNum) throws AppException { - regFakeProjInfo(); - //设置虚拟耗材,只有一个高试管,无校验模式,无光学检查 - testModeState.resetAll(); - testModeState.setVirtualTubeScanResult(createScanResult(A8kTubeHolderType.BloodTube, isHTube, tubeNum)); - testModeState.setNoCheckMode(true); - testModeState.setDisableOptScan(true); - doOnceSimpleTest(new FAKE_PROJ_01_FLOW1(), ConsumableGroup.GROUP0, tubeNum); - return "开始测试"; - } - - @ExtApiFn(name = "执行一次简单的测试(无试管测试.流程1)", order = 400) public String doSimpleTest(Boolean isHTube, Integer tubeNum) throws AppException { regFakeProjInfo();