启动时关闭测试任务

pom.xml

@@ -20,7 +20,7 @@
         <dependency>
             <groupId>com.iflytop</groupId>
             <artifactId>uf</artifactId>
-            <version>0.0.40</version>
+            <version>0.0.43</version>
         </dependency>
     </dependencies>
 

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

@@ -104,6 +104,7 @@ public class TestController extends UfApiControllerBase {
             tube.put("projectIds", UfJsonHelper.objectToJson(projectIds));
             var tubeModel = new MdbTubeRackTestTaskTube();
             tubeModel.rackId = task.id;
+            tubeModel.status = UfMdbDictItem.getValue("TUBE_STATUS", "NEW");
             tubeModel.setAttributes(tube);
             tubeModel.save();
         }

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

@@ -296,6 +296,8 @@ public class Pipette {
         Double coefficient = UfMdbOption.getDouble("SampleTubeRackWB5mlTubeLiquidLevelFollowCoefficient");
         Integer depth = (int)(coefficient * volume);
         this.aspirateWithLiquidLevelFollow(volume, depth);
+
+        UfActuatorCmdExecutor.execute("ArmXY", "xymotor_move_to", "2385,3100,0");
     }
 
     // 从全血3ml吸液

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

@@ -1,5 +1,9 @@
 package com.iflytop.a800.resource;
 public class TestCard {
-    public Integer boxIndex;
-    public String lotCode;
+    // box index inside warehouse
+    public Integer boxIndex = -1;
+    // lot code
+    public String lotCode = "";
+    // slot index in incubator
+    public Integer incubatorSlotIndex = -1;
 }

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

@@ -41,15 +41,23 @@ public class TubeRackTask extends TaskBase {
         tubeRack.tubes = new ArrayList<>();
         for (int i = 0; i < 10; i++) {
             var tube = new TestTube();
+            tube.index = i;
+
+            var tubeModel = UfActiveRecord.findOne(
+                MdbTubeRackTestTaskTube.class,
+                Map.of("rackId", this.taskModel.id, "index", tube.index)
+            );
+
             tube.isExisted = feeder.readIsTestTubeExisted(i);
             if ( !tube.isExisted ) {
+                tubeModel.status = UfMdbDictItem.getValue("TUBE_STATUS", "IGNORED");
+                tubeModel.save();
                 continue ;
             }
 
             tubeRack.tubes.add(tube);
             this.samplingTubes.add(tube);
 
-            tube.index = i;
             tube.type = tubeRack.type;
             if ( !UfMdbDictItem.match("TUBE_TYPE","WB",tube.type) ) {
                 continue;
@@ -60,18 +68,18 @@ public class TubeRackTask extends TaskBase {
             tube.barCode = feeder.readBarCode(i);
 
             // 创建任务
-            MdbTubeRackTestTaskTube tubeModel = UfActiveRecord.findOne(
-                MdbTubeRackTestTaskTube.class,
-                Map.of("rackId", this.taskModel.id, "index", tube.index)
-            );
             for ( var projectId : tubeModel.getProjectIdList() ) {
                 var project = UfActiveRecord.findOne(MdbProject.class, Map.of("id", projectId));
                 var testTask = new TubeTestTask();
                 testTask.tube = tube;
                 testTask.project = project;
+                testTask.tubeModel = tubeModel;
                 testTask.on("TubeSamplingFinished", this::onTubeSamplingFinished);
                 taskMan.append(testTask);
             }
+
+            tubeModel.status = UfMdbDictItem.getValue("TUBE_STATUS", "WAITING");
+            tubeModel.save();
         }
 
         if ( this.samplingTubes.isEmpty() ) {

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

@@ -7,8 +7,10 @@ import com.iflytop.a800.device.Device;
 import com.iflytop.a800.model.MdbIdChip;
 import com.iflytop.a800.model.MdbProject;
 import com.iflytop.a800.model.MdbTest;
+import com.iflytop.a800.model.MdbTubeRackTestTaskTube;
 import com.iflytop.a800.resource.*;
 import com.iflytop.a800.utils.ScanResultAnalysisAlgo;
+import com.iflytop.uf.UfActiveRecord;
 import com.iflytop.uf.UfActuatorCmdExecutor;
 import com.iflytop.uf.UfCmdSnippetExecutor;
 import com.iflytop.uf.model.UfMdbDictItem;
@@ -24,18 +26,28 @@ public class TubeTestTask extends TaskBase {
     public TestTube tube;
     // 测试项目
     public MdbProject project;
+    // 测试试管
+    public MdbTubeRackTestTaskTube tubeModel;
+
+    // 测试记录
+    private MdbTest test;
+
+
+
+
 
     public TestTubeRack tubeRack;
     public String status;
 
-    // 测试记录
-    private MdbTest test;
+
+
+
     // 缓冲液试管
     private BufferTube bufferTube;
     // 大容量缓冲液试管
     private LargeBufferTube largeBufferTube;
     // 测试卡
-    private TestCard testCard;
+    private TestCard testCard = null;
     // id chip
     private MdbIdChip idChip;
     // 孵育槽位
@@ -46,7 +58,7 @@ public class TubeTestTask extends TaskBase {
         var device = Device.getInstance();
 
         // 申请测试卡
-        this.testCard = device.testCard.alloc(this.project);
+        this.prepareTestcard();
 
         // 缓冲液/探测物质
         this.bufferTube = device.bufferTube.alloc(this.testCard);
@@ -58,8 +70,10 @@ public class TubeTestTask extends TaskBase {
 
         // 测试记录
         this.test = new MdbTest();
+        this.test.tubeId = this.tubeModel.id;
         this.test.projectCode = this.project.code;
         this.test.materialLotCode = this.testCard.lotCode;
+        this.test.isSamplingFinished = "no";
         this.test.save();
 
         // 移动试管架
@@ -85,14 +99,35 @@ public class TubeTestTask extends TaskBase {
         )));
     }
 
+    // 申请测试卡
+    private void prepareTestcard() {
+        var device = Device.getInstance();
+        this.testCard = device.testCard.alloc(this.project);
+        this.log("测试卡：Box={}; Lot={}", this.testCard.boxIndex, this.testCard.lotCode);
+
+        var threadPushCardToSlot = new Thread(() -> {
+            this.log("测试卡推送至孵育盘 ：开始");
+            this.incubatorSlot = device.incubator.pushNewCard(this.testCard);
+            this.testCard.incubatorSlotIndex = this.incubatorSlot.index;
+            this.log("测试卡推送至孵育盘 : 完成 -> Slot={}", this.testCard.incubatorSlotIndex);
+            synchronized ( this.testCard ) {
+                this.testCard.notifyAll();
+            }
+        });
+        threadPushCardToSlot.start();
+    }
+
     // 记录日志
     private void log(String message, Object ... args ) {
-        message = String.format("[TubeTestTask:T%d-P%s] %s", this.tube.index, this.test.projectCode, message);
+        message = String.format("[TubeTestTask:T%d-P%s] %s", this.tube.index, this.project.code, message);
         LOG.info(message, args);
     }
 
     @Override
     public void run() {
+        this.tubeModel.status = UfMdbDictItem.getValue("TUBE_STATUS", "EXECUTING");
+        this.tubeModel.save();
+
         this.prepare();
 
         ObjectMapper jsonMapper = new ObjectMapper();
@@ -109,23 +144,45 @@ public class TubeTestTask extends TaskBase {
                 continue;
             }
 
-            var stepAction = stepNode.get("action").asText();
-            switch ( stepAction ) {
-            case "shaking"  : this.shake(stepNode); break;
-            case "uncap"    : this.uncap(); break;
-            case "cap"      : this.cap(); break;
-            case "puncture" : this.executeStepPuncture(stepNode); break;
-            case "aspirate" : this.executeStepAspirate(stepNode); break;
-            case "mixing"   : this.executeStepMixing(stepNode); break;
-            case "drop-tip" : this.executeStepDropTip(stepNode); break;
-            case "incubate" : this.executeStepIncubate(stepNode); break;
-            case "analysis" : this.executeStepAnalysis(stepNode); break;
+            try {
+                var stepAction = stepNode.get("action").asText();
+                switch ( stepAction ) {
+                case "shaking"  : this.shake(stepNode); break;
+                case "uncap"    : this.uncap(); break;
+                case "cap"      : this.cap(); break;
+                case "puncture" : this.executeStepPuncture(stepNode); break;
+                case "aspirate" : this.executeStepAspirate(stepNode); break;
+                case "mixing"   : this.executeStepMixing(stepNode); break;
+                case "drop-tip" : this.executeStepDropTip(stepNode); break;
+                case "incubate" : this.executeStepIncubate(stepNode); break;
+                case "analysis" : this.executeStepAnalysis(stepNode); break;
+                case "sampling-done" : this.executeStepSamplingDone(stepNode); break;
+                }
+            } catch ( InterruptedException e ) {
+                throw new RuntimeException(e);
             }
         }
 
         this.taskFinish();
     }
 
+    // 采样完成
+    private void executeStepSamplingDone(JsonNode stepNode) {
+        this.log("采样完成");
+        this.test.isSamplingFinished = "yes";
+        this.test.save();
+
+        var doneSamplingCount = UfActiveRecord.count(MdbTest.class, Map.of(
+            "isSamplingFinished","yes",
+            "tubeId", this.tubeModel.id
+        ));
+        if ( doneSamplingCount == this.tubeModel.getProjectIdList().size() ) {
+            this.log("试管采样结束");
+            this.tubeModel.status = UfMdbDictItem.getValue("TUBE_STATUS", "FINISHED");
+            this.tubeModel.save();
+        }
+    }
+
     // 摇匀
     private void shake( JsonNode stepNode ) {
         int count = stepNode.get("count").asInt();
@@ -207,10 +264,16 @@ public class TubeTestTask extends TaskBase {
     }
 
     // 孵育
-    private void executeStepIncubate( JsonNode stepNode ) {
-        Device device = Device.getInstance();
-        this.incubatorSlot = device.incubator.pushNewCard(this.testCard);
+    private void executeStepIncubate( JsonNode stepNode ) throws InterruptedException {
+        if ( -1 == this.testCard.incubatorSlotIndex ) {
+            synchronized ( this.testCard ) {
+                this.log("测试卡就绪等待");
+                this.testCard.wait();
+                this.log("测试卡就绪等待完成");
+            }
+        }
 
+        Device device = Device.getInstance();
         var pipette = device.pipette;
         pipette.tipPickUp();
 

src/main/resources/application.yml

@@ -1,3 +1,7 @@
 spring:
   profiles:
-    active: dev
+    active: dev
+
+#mybatis:
+#  configuration:
+#    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl