update

README2.md

@@ -120,3 +120,10 @@ TODO:
 5. 支持鼠标?   （困难）
 
 ```
+
+```angular2html
+1. tip丢弃失败的问题
+2. 舵机死机的问题
+3. hbot收不到消息的BUG
+
+```

src/main/java/a8k/constant/MiniServoConstant.java

@@ -4,7 +4,7 @@ import a8k.service.app.devicectrl.driver.type.MiniServoMId;
 import org.springframework.util.Assert;
 
 public class MiniServoConstant {
-	static public final Integer actionOvertime = 5000;
+	static public final Integer actionOvertime = 10000;
 
 	//摇匀模组Y轴
 	static public final Integer ShakeModGripperYSV_zeroPos = 110;

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -93,6 +93,10 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 			result = testModeState.getVirtualTubeScanResult();
 		}
 
+		if (result == null) {
+			stc.ejectTubeHolder();
+		}
+
 		return result;
 	}
 

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java

@@ -10,9 +10,11 @@ import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.appstate.type.state.TubeState;
 import a8k.service.app.devicectrl.ctrlservice.TubeFeedingCtrlService;
+import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.test.state.TestModeState;
 import a8k.service.test.state.VirtualDevice;
 import a8k.type.exception.AppException;
+import a8k.utils.ActionParallerExceutor;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -54,8 +56,13 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	@Resource
 	TubeFeedingCtrlService tubeFeedingCtrlService;
 
+	@Resource
+	PipetteCtrlDriver pipetteCtrlDriver;
+
 	DeviceWorkState state;
 
+	ActionParallerExceutor executor = new ActionParallerExceutor();
+
 	@PostConstruct
 	void init() {
 		state = gstate.deviceWorkState;
@@ -70,6 +77,14 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 			virtualDevice.doVirtualThings("移动到下一个试管");
 		} else {
 			tubeFeedingCtrlService.moveTubeToPreProcessPos(tubeIndex);
+			executor.submit(() -> tubeFeedingCtrlService.moveTubeToPreProcessPos(tubeIndex));
+			//			executor.submit(() -> pipetteCtrlDriver.lldPrepareBlock());
+
+			var exception = executor.waitAll();
+			if (exception != null) {
+				throw exception;
+			}
+
 		}
 	}
 

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java

@@ -161,7 +161,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 		var mutiAppException = actionParallerExceutor.waitAll();
 
 		//如果依然有错误，将试管状态设置为错误，同时抛出异常
-		if (!mutiAppException.bindExceptions.isEmpty()) {
+		if (mutiAppException != null) {
 			projectProcessContextMgrService.changeTubeStateToError(gstate.getCurProcessingTube(), mutiAppException.getErrors());
 			throw mutiAppException;
 		}

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ5_PROCESS.java

@@ -81,7 +81,13 @@ public class SEQ5_PROCESS extends A8kStepAction {
 		if (projProcessOff != 0) { //第一个项目的部分动作已经在前面完成
 			deviceCtrlScripter.doSampleProcessPrepare(cxt);
 		}
+
 		deviceCtrlScripter.doSampleProcess(cxt);
+
+		if (projProcessOff + 1 != tube.getProjIds().size()) {
+			deviceCtrlScripter.doSampleProcessPostProcess(cxt);
+		}
+
 	}
 
 	@Override

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ6_POST_PROCESS.java

@@ -1,8 +1,10 @@
 package a8k.service.app.appctrl.mainflowctrl.action;
 
+import a8k.service.app.appstate.type.ProjProcessContext;
 import a8k.service.app.devicectrl.ctrlservice.PipetteGunCtrlService;
 import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
+import a8k.service.app.devicectrl.script.DeviceCtrlScripter;
 import a8k.utils.ActionParallerExceutor;
 import a8k.utils.AppExceptionBuilder;
 import a8k.service.app.appctrl.mainflowctrl.CondtionMgrService;
@@ -57,6 +59,8 @@ public class SEQ6_POST_PROCESS extends A8kStepAction {
 	ProjectProcessContextMgrService projectProcessContextMgrService;
 	@Resource
 	CondtionMgrService              cms;
+	@Resource
+	DeviceCtrlScripter              deviceCtrlScripter;
 
 
 	ActionParallerExceutor actionParallerExceutor = new ActionParallerExceutor();
@@ -69,17 +73,25 @@ public class SEQ6_POST_PROCESS extends A8kStepAction {
 		state = gstate.deviceWorkState;
 	}
 
+
+	void tubePostProcess() throws AppException {
+		var                tube           = gstate.getCurProcessingTube();
+		Integer            projProcessOff = tube.getProjProcessOff();
+		ProjProcessContext cxt            = projectProcessContextMgrService.getProjProcessContext(tube.getSampleId(), tube.getProjIds().get(projProcessOff));
+		deviceCtrlScripter.doSampleProcessPostProcess(cxt);
+	}
+
 	void doAction() throws AppException {
 		if (virtualDevice.isEnable()) {
 			virtualDevice.doVirtualThings("后处理样本", 3);
 		}
 
-		actionParallerExceutor.submit(() -> pipetteCtrlDriver.lldPrepareBlock());
+		actionParallerExceutor.submit(this::tubePostProcess);
 		actionParallerExceutor.submit(() -> tubePreProcesCtrlService.resteModule());
 
 		var mutiAppException = actionParallerExceutor.waitAll();
 
-		if (!mutiAppException.bindExceptions.isEmpty()) {
+		if (mutiAppException != null) {
 			projectProcessContextMgrService.changeTubeStateToError(gstate.getCurProcessingTube(), mutiAppException.getErrors());
 			throw mutiAppException;
 		}
@@ -100,6 +112,7 @@ public class SEQ6_POST_PROCESS extends A8kStepAction {
 		return List.of(
 				A8kPublicResourceType.PlatesBoxModule,
 				A8kPublicResourceType.HBOT,
+				A8kPublicResourceType.IncubationPlateModule,
 				A8kPublicResourceType.CurTubeProcessToken
 		);
 	}

src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java

@@ -113,10 +113,10 @@ public class DeviceInitCtrlService {
 			//进出料初始化
 			actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV));
 			actionReactor.dosome("入料平移电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, actionOvertime));
+			actionReactor.dosome("摇匀模组-夹爪Z轴电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime));
 			actionReactor.dosome("摇匀模组-夹爪舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV));
 			actionReactor.dosome("摇匀模组-夹爪Y轴舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV));
 			actionReactor.dosome("摇匀模组-夹紧电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, actionOvertime));
-			actionReactor.dosome("摇匀模组-夹爪Z轴电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime));
 			actionReactor.dosome("摇匀模组-摇匀电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, actionOvertime));
 			actionReactor.dosome("摇匀模组-摇匀电机摆动90度", () -> stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, actionOvertime));
 			//板夹仓初始化
@@ -139,10 +139,13 @@ public class DeviceInitCtrlService {
 		//弹出试管架
 		tubeFeedingCtrlService.ejectTubeHolder();
 		//丢弃tip头
-		hbotCtrlService.dropTip();
+		hbotCtrlService.initPipetterGun();
 		//hbot快速归零
 		hbotCtrlService.moveQuickToZero();
 
+		pipetteCtrlDriver.lldPrepareBlock();
+
+
 		return results;
 	}
 

src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java

@@ -91,8 +91,15 @@ public class HbotCtrlService {
 	public void dropTip() throws AppException {
 		log.info("丢弃tip");
 		hbotBaseMoveExDriver.hbotMoveTo(hbotTipPosMgr.getDropTipPos());
+		if (pipetteCtrlDriver.isHasTip()) {
 			pipetteCtrlDriver.putTipBlock();
 		}
+	}
+
+	public void initPipetterGun() throws AppException {
+		hbotBaseMoveExDriver.hbotMoveTo(hbotTipPosMgr.getDropTipPos());
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+	}
 
 	public void moveToDropLiquidPos() throws AppException {
 		hbotBaseMoveExDriver.hbotMoveTo(hbotFixedPosParamMgr.getDropLiquidPos());

src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeFeedingCtrlService.java

@@ -267,7 +267,6 @@ public class TubeFeedingCtrlService {
 		if (tubeType.isEmpty()) {
 			logger.warn("扫描试管架类型失败，弹出试管架");
 			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_SCAN_TUBEHOLDER_TYPE_TIMEOUT));
-			ejectTubeHolder();
 			return null;
 		}
 		logger.info("扫描试管架类型成功,{}", tubeType);
@@ -291,7 +290,6 @@ public class TubeFeedingCtrlService {
 		if (!hasTube) {
 			logger.error("试管架中没有试管");
 			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT));
-			ejectTubeHolder();
 			return null;
 		}
 		result.tubeHolderType = tubeType;

src/main/java/a8k/service/app/devicectrl/driver/PipetteCtrlDriver.java

@@ -150,9 +150,8 @@ public class PipetteCtrlDriver {
 
 	@ExtApiFn(name = "放置吸头", order = FnOrder.putTipBlock)
 	public void putTipBlock() throws AppException {
-		//		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_put_tip.toInt());
-		//		canBusService.waitForMod(MId.PipetteMod, overtime);
-		pipetteInitDeviceBlock();
+		canBusService.callcmd(MId.PipetteMod.toInt(), CmdId.pipette_put_tip.toInt());
+		canBusService.waitForMod(MId.PipetteMod, overtime);
 	}
 
 	@ExtApiFn(name = "设置LLD起始位置", order = FnOrder.setLLDStartZ)

src/main/java/a8k/service/app/devicectrl/param/param_mgr/HbotSamplePosParamMgr.java

@@ -39,13 +39,14 @@ public class HbotSamplePosParamMgr extends ParamMgr {
 
 	public Pos3d getSampleStartPos(A8kSamplePos samplePos) {
 		return switch (samplePos) {
-			case EmergencyTubePos -> getSamplePos(HbotSamplePos.BloodHTubeSamplePos);
-			case BloodHTubePos -> getSamplePos(HbotSamplePos.BloodSTubeSamplePos);
-			case BloodSTubePos -> getSamplePos(HbotSamplePos.MiniTubeSamplePos);
-			case MiniTubePos -> getSamplePos(HbotSamplePos.MiniBloodSamplePos);
-			case MiniBloodPos -> getSamplePos(HbotSamplePos.Bulltube1P5SamplePos);
-			case Bulltube1P5Pos -> getSamplePos(HbotSamplePos.Bulltube0P5SamplePos);
-			case Bulltube0P5Pos -> getSamplePos(HbotSamplePos.StoolTestTubeSamplePos);
+			case EmergencyTubePos -> getSamplePos(HbotSamplePos.EmergencyTubeSamplePos);
+			case BloodHTubePos -> getSamplePos(HbotSamplePos.BloodHTubeSamplePos);
+			case BloodSTubePos -> getSamplePos(HbotSamplePos.BloodSTubeSamplePos);
+			case MiniTubePos -> getSamplePos(HbotSamplePos.MiniTubeSamplePos);
+			case MiniBloodPos -> getSamplePos(HbotSamplePos.MiniBloodSamplePos);
+			case Bulltube1P5Pos -> getSamplePos(HbotSamplePos.Bulltube1P5SamplePos);
+			case Bulltube0P5Pos -> getSamplePos(HbotSamplePos.Bulltube0P5SamplePos);
+			case StoolTestTubePos -> getSamplePos(HbotSamplePos.StoolTestTubeSamplePos);
 			default -> throw new IllegalStateException("Unexpected value: " + samplePos);
 		};
 	}

src/main/java/a8k/service/app/devicectrl/script/DeviceCtrlScripter.java

@@ -153,6 +153,7 @@ public class DeviceCtrlScripter {
 			hbotCtrlService.dropTip();
 			//待机
 			hbotCtrlService.moveQuickToZero();
+			pipetteCtrlDriver.lldPrepareBlock();
 		} else if (type.equals(A8kReactionFlowType.FlowType2)) {
 			log.info("样本预处理,取大瓶缓冲液液到探测物质中");
 			/*
@@ -188,6 +189,7 @@ public class DeviceCtrlScripter {
 
 			//归零,待机
 			hbotCtrlService.moveQuickToZero();
+			pipetteCtrlDriver.lldPrepareBlock();
 		} else {
 			Assert.isTrue(false, "不支持的反应流程类型");
 		}
@@ -221,9 +223,14 @@ public class DeviceCtrlScripter {
 		//取样
 		aspirate(PipetteGunBindActionType.SAMPLE, ctx, sampleul);
 
-
 		//移动到吐液位,
 		hbotCtrlService.moveTo(ProjProcessContextUtils.getReactionEndPos(ctx));
+	}
+
+
+	public void doSampleProcessPostProcess(ProjProcessContext ctx) throws AppException {
+		Integer sampleul   = ProjProcessContextUtils.getSampleVol(ctx);
+		Integer reactionul = ProjProcessContextUtils.getReactionPlateDropletVolUl(ctx);
 
 		//吐液
 		aspirateNoLLF(-sampleul);

src/main/java/a8k/utils/ActionParallerExceutor.java

@@ -36,6 +36,9 @@ public class ActionParallerExceutor {
 		} catch (InterruptedException | ExecutionException ignored) {
 		}
 		exceptions.removeIf(Objects::isNull);
+		if (exceptions.isEmpty()) {
+			return null;
+		}
 		return new MutiAppException(exceptions);
 		//		List<AppError> errors = new java.util.ArrayList<>(List.of());
 		//		exceptions.forEach(e -> errors.add(e.getError()));