public ViewModel_Rack(List <List <ViewModel_Vial> > vials, float weight, Model_Rack.RackPurpose position, uint capacity, uint rowCount, uint colCount)
{
Position = position;
Vials = vials;
_Capacity = capacity;
_RowCount = rowCount;
_ColCount = colCount;
_Weight = weight;
}
public int GrabVialFromRack(int index, Model_Rack.RackPurpose rack)
{
int ElapsingTime = -1;
if ((ArmPosition == Model_Arm.ArmPosition.INPUT_RACK || ArmPosition == Model_Arm.ArmPosition.OUTPUT_RACK) &&
GripStatus == Model_Arm.GripStatus.HALT)
{
ElapsingTime = Model_Arm.TIME_TO_GRAB_VIAL_ms;
}
if (ElapsingTime >= 0)
{
BeginGripMovement(ElapsingTime, index, rack, Model_Arm.GripPosition.CLOSED, Model_Arm.GripStatus.CLOSING);
}
return(ElapsingTime);
}
public int ReleseVialToRack(int index, Model_Rack.RackPurpose rack)
{
int ElapsingTime = -1;
if ((ArmPosition == Model_Arm.ArmPosition.INPUT_RACK || ArmPosition == Model_Arm.ArmPosition.OUTPUT_RACK) &&
GripStatus == Model_Arm.GripStatus.HALT &&
GripPosition == Model_Arm.GripPosition.CLOSED)
{
ElapsingTime = Model_Arm.TIME_TO_RELEASE_VIAL_ms;
}
if (ElapsingTime >= 0)
{
BeginGripMovement(ElapsingTime, index, rack, Model_Arm.GripPosition.OPEN, Model_Arm.GripStatus.OPENING);
}
return(ElapsingTime);
}
private void BeginGripMovement(int timeForGripAction, int index, Model_Rack.RackPurpose rack, Model_Arm.GripPosition newPosn, Model_Arm.GripStatus newStatus)
{
// Should only get here with a positive time and the _ArmTimer not running
// Double check the arm and grip are not already moving
if ((timeForGripAction >= 0) &&
(Model_Arm.ArmStatus.HALT == ArmStatus) &&
(Model_Arm.GripStatus.HALT == GripStatus) &&
(false == _GripTimer.Enabled))
{
// Set the grip status and next state
GripPosition = Model_Arm.GripPosition.UNKNOWN;
GripStatus = newStatus;
FutureGripPosition = newPosn;
VialIndex = index;
Rack = rack;
// Do not overwrite arm position
FutureArmPosition = ArmPosition;
_GripTimer.Interval = timeForGripAction;
_GripTimer.Enabled = true;
_GripTimer.Start();
}
}
/// <summary>
/// Received then the grip has completed a movement
/// </summary>
/// <param name="sender"></param>
/// <param name="proceed"></param>
/// <param name="message"></param>
private void Arm_OnGripUpdateEventReceived(ViewModel_Arm sender, bool proceed, int index, Model_Arm.GripPosition grip, Model_Rack.RackPurpose rack, string message)
{
if (proceed)
{
if (SimulationState.STAGE1_PICK_UP_INPUT_VIAL == _CurrentState)
{
// Belt and braces
if (Model_Rack.RackPurpose.INPUT == rack)
{
// Just picked up from input so set current input ID
_InputRack.SetCurrentID(index);
_RefreshInput = false;
}
}
if (SimulationState.STAGE6_PICK_UP_OUTPUT_VIAL == _CurrentState)
{
// Belt and braces
if (Model_Rack.RackPurpose.OUTPUT == rack)
{
// Just picked up from output so set current output ID
_OutputRack.SetCurrentID(index);
}
}
if (SimulationState.STAGE10_PLACE_VIAL_AT_OUTPUT == _CurrentState)
{
// Belt and braces
if (Model_Rack.RackPurpose.OUTPUT == rack)
{
_OutputRack.SetCurrentID(index + 1);
}
}
DoProceed();
}
RaiseEventOnTopLevel(OnSimulationUpdateEvent, new object[] { this, message });
}
