private void BeginArmMovement(int timeForMovement, Model_Arm.ArmPosition newPosn)
{
// Should only get here with a positive time and the _ArmTimer not running
// Double check the arm and grip are not already moving
if ((timeForMovement >= 0) &&
(Model_Arm.ArmStatus.HALT == ArmStatus) &&
(Model_Arm.GripStatus.HALT == GripStatus) &&
(false == _ArmTimer.Enabled))
{
// Set the Arm status to moving as we simulate the arm movement
ArmStatus = Model_Arm.ArmStatus.MOVING;
// Set the current arm position to unknown as we simulate that we cannot know where it is
ArmPosition = Model_Arm.ArmPosition.UNKNOWN;
// Do not change grip position
FutureGripPosition = GripPosition;
// Future arm position set
FutureArmPosition = newPosn;
_ArmTimer.Interval = timeForMovement;
_ArmTimer.Enabled = true;
_ArmTimer.Start();
}
}
public int MoveArmToNewPosition(Model_Arm.ArmPosition newPosn)
{
int ElapsingTime = -1;
if (newPosn == ArmPosition)
{
ElapsingTime = 0;
}
else
{
switch (ArmPosition)
{
case Model_Arm.ArmPosition.INPUT_RACK:
// From the Input Rack position the arm can only move to the Grind Station
if (Model_Arm.ArmPosition.GRIND_STATION == newPosn &&
Model_Arm.ArmStatus.HALT == ArmStatus &&
Model_Arm.GripStatus.HALT == GripStatus)
{
ElapsingTime = (int)Model_Arm.TIME_FROM_INPUT_TO_GRIND_ms;
}
break;
case Model_Arm.ArmPosition.GRIND_STATION:
// From the Grind Station position the arm can only move to the Dispense Station
if (Model_Arm.ArmPosition.DISPENSE_STATION == newPosn &&
Model_Arm.ArmStatus.HALT == ArmStatus &&
Model_Arm.GripStatus.HALT == GripStatus)
{
ElapsingTime = (int)Model_Arm.TIME_FROM_GRIND_TO_DISPENSE_ms;
}
break;
case Model_Arm.ArmPosition.DISPENSE_STATION:
// From the Dispense Station position the arm can move to Input or Output Racks
// Must be carrying "empty" input vial back to input rack
if (Model_Arm.ArmPosition.INPUT_RACK == newPosn &&
Model_Arm.ArmStatus.HALT == ArmStatus &&
Model_Arm.GripStatus.HALT == GripStatus)
{
ElapsingTime = (int)Model_Arm.TIME_FROM_DISPENSE_TO_INPUT_ms;
}
// Must be carrying "full" output vial back to output rack
else if (Model_Arm.ArmPosition.OUTPUT_RACK == newPosn &&
Model_Arm.ArmStatus.HALT == ArmStatus &&
Model_Arm.GripStatus.HALT == GripStatus)
{
ElapsingTime = (int)Model_Arm.TIME_FROM_DISPENSE_TO_OUTPUT_ms;
}
else
{
// N/A
}
break;
case Model_Arm.ArmPosition.OUTPUT_RACK:
// From the Output Rack position the arm can only move to the Dispense station
if (Model_Arm.ArmPosition.DISPENSE_STATION == newPosn &&
Model_Arm.ArmStatus.HALT == ArmStatus &&
Model_Arm.GripStatus.HALT == GripStatus)
{
ElapsingTime = (int)Model_Arm.TIME_FROM_OUTPUT_TO_DISPENSE_ms;
}
break;
case Model_Arm.ArmPosition.UNKNOWN:
break;
}
}
if (ElapsingTime >= 0)
{
BeginArmMovement(ElapsingTime, newPosn);
}
return(ElapsingTime);
}
