public async void DripTube(string args)
{
JObject targetTube = (JObject)JsonConvert.DeserializeObject(args);
int type = int.Parse(targetTube["type"].ToString());
int blockNum, row, col = 1;
if (type == (int)BoardType.Site)
{
blockNum = int.Parse(targetTube["site"].ToString());
col = int.Parse(targetTube["col"].ToString());
}
else
{
blockNum = int.Parse(targetTube["grid"].ToString());
}
row = int.Parse(targetTube["row"].ToString());
SetDrippingTube(blockNum, row, col);
VsmdController vsmdController = VsmdController.GetVsmdController();
PumpController pumpController = PumpController.GetPumpController();
BoardSetting curBoardSetting = BoardSetting.GetInstance();
await vsmdController.MoveTo(VsmdAxis.Z, curBoardSetting.CurrentBoard.ZDispense);
await pumpController.Drip();
Thread.Sleep(GeneralSettings.GetInstance().DripInterval);
await pumpController.Drip();
await vsmdController.MoveTo(VsmdAxis.Z, curBoardSetting.CurrentBoard.ZTravel);
MoveCallBack(blockNum, row, col);
}
private void IsBrowserInitializedChanged(object sender, IsBrowserInitializedChangedEventArgs e)
{
if (e.IsBrowserInitialized && m_delayToBuildGrid)
{
m_externalObj.BuildGrid(BoardSetting.GetInstance().CurrentBoard);
}
}
private void OnGridPageDomLoaded()
{
if (BoardSetting.GetInstance().CurrentBoard != null)
{
m_externalObj.BuildGrid(BoardSetting.GetInstance().CurrentBoard);
}
}
private void InitBoardSettings()
{
cmbBoards.Items.Clear();
BoardSetting.GetInstance().GetAllBoardMetaes().ForEach((meta) =>
{
cmbBoards.Items.Add(meta);
}
);
Preference perfInst = Preference.GetInstace();
if (cmbBoards.Items.Count > 0)
{
if (perfInst.HasPreference)
{
BoardMeta findBoardMeta = BoardSetting.GetInstance().GetAllBoardMetaes().Find((meta) =>
{
return(meta.ID == perfInst.BoardID);
});
if (findBoardMeta != null)
{
cmbBoards.SelectedItem = findBoardMeta;
}
}
else
{
cmbBoards.SelectedIndex = 0;
}
}
}
private void btnAdjustOrder_Click(object sender, EventArgs e)
{
var boardMetas = BoardSetting.GetInstance().GetAllBoardMetaes();
var names = boardMetas.Select(x => x.Name).ToList();
AdjustOrder adjustOrder = new AdjustOrder(names);
adjustOrder.ShowDialog();
}
public static BoardSetting GetInstance()
{
if (m_curBoardSetting == null)
{
m_curBoardSetting = new BoardSetting();
}
return(m_curBoardSetting);
}
private void tsmNew_Click(object sender, EventArgs e)
{
m_curMeta = new BoardMeta();
m_curMeta.ID = BoardSetting.GetInstance().GetNextBoardNo();
m_curMeta.Type = (int)BoardType.Site;
FillData();
m_mode = FORM_MODE.Add;
}
private void MainFrm_Load(object sender, EventArgs e)
{
InitStatusBar();
Preference.GetInstace().Load();
GeneralSettings.GetInstance().LoadGeneralSettings();
BoardSetting.GetInstance().LoadBoardSettings();
InitVsmdConnection();
}
/// <summary>
///
/// </summary>
private async void DoPipetting()
{
//Logger.Instance.Write("DoPipetting");
log.Info("Do Pipetting");
VsmdController vsmdController = VsmdController.GetVsmdController();
PumpController pumpController = PumpController.GetPumpController();
BoardSetting curBoardSetting = BoardSetting.GetInstance();
await BeforeMove(m_selectedTubes.Count);
int touchDelaySeconds = (int)(1000 * curBoardSetting.CurrentBoard.DelaySeconds);
int delayMicroSecondsBetweenSamples = (int)(Preference.GetInstace().DelaySeconds * 1000);
int blockNum, row, col = 1;
//await vsmdController.SetS3Mode(VsmdAxis.Z, 1);
for (int i = m_pipettingIndex + 1; i < m_sortedTubesArr.Length; i++)
{
if (m_dripStatus != PipettingStatus.Moving)
{
break;
}
JObject obj = (JObject)m_sortedTubesArr[i];
GetPositionInfo(obj, out blockNum, out row, out col);
SetPipettingWell(blockNum, row, col);
int xPos = curBoardSetting.Convert2PhysicalPos(VsmdAxis.X, blockNum, col);
int offset = curBoardSetting.CurrentBoard.TouchEdgeOffset;
await vsmdController.MoveTo(VsmdAxis.X, xPos);
await vsmdController.MoveTo(VsmdAxis.Y, curBoardSetting.Convert2PhysicalPos(VsmdAxis.Y, blockNum, row));
// TODO
await vsmdController.MoveTo(VsmdAxis.Z, curBoardSetting.CurrentBoard.ZDispense);
// start pipetting
await pumpController.SwitchOnOff(i);
// wait several seconds, this time should be changed according to the volume dispensed
Thread.Sleep(delayMicroSecondsBetweenSamples);
await vsmdController.MoveTo(VsmdAxis.X, xPos + offset);
Thread.Sleep(touchDelaySeconds);
await vsmdController.MoveTo(VsmdAxis.Z, curBoardSetting.CurrentBoard.ZTravel);
// change the UI to start
Thread.Sleep(100);
MoveCallBack(blockNum, row, col);
m_pipettingIndex = i;
}
bool bok = await AfterMove();
log.InfoFormat("finished pipetting, result is: {0}", bok);
//Logger.Instance.Write("error happened in afterMove");
}
private void cmbBoards_SelectedIndexChanged(object sender, EventArgs e)
{
BoardSetting.GetInstance().CurrentBoard = (BoardMeta)cmbBoards.Items[cmbBoards.SelectedIndex];
if (m_browser.IsBrowserInitialized)
{
m_externalObj.BuildGrid(BoardSetting.GetInstance().CurrentBoard);
}
else
{
m_delayToBuildGrid = true;
}
}
/// <summary>
///
/// </summary>
private async void DripThread()
{
VsmdController vsmdController = VsmdController.GetVsmdController();
PumpController pumpController = PumpController.GetPumpController();
BoardSetting curBoardSetting = BoardSetting.GetInstance();
JArray jsArr = m_selectedTubes;
await BeforeMove();
int dripInterval = GeneralSettings.GetInstance().DripInterval;
int blockNum, row, col = 1;
//await vsmdController.SetS3Mode(VsmdAxis.Z, 1);
for (int i = m_dripIndex + 1; i < jsArr.Count; i++)
{
if (m_dripStatus != DripStatus.Moving)
{
break;
}
JObject obj = (JObject)jsArr[i];
GetPositionInfo(obj, out blockNum, out row, out col);
SetDrippingTube(blockNum, row, col);
//await vsmdController.MoveTo(VsmdAxis.X, curBoardSetting.Convert2PhysicalPos(VsmdAxis.X, blockNum, col));
//await vsmdController.MoveTo(VsmdAxis.Y, curBoardSetting.Convert2PhysicalPos(VsmdAxis.Y, blockNum, row));
var moveXTask = vsmdController.MoveTo(VsmdAxis.X, curBoardSetting.Convert2PhysicalPos(VsmdAxis.X, blockNum, col));
var moveYTask = vsmdController.MoveTo(VsmdAxis.Y, curBoardSetting.Convert2PhysicalPos(VsmdAxis.Y, blockNum, row));
await Task.WhenAll(moveXTask, moveYTask);
// TODO
await vsmdController.MoveTo(VsmdAxis.Z, curBoardSetting.CurrentBoard.ZDispense);
// start drip
//await vsmdController.ClickPump();
await pumpController.Drip();
// wait 5 seconds, this time should be changed according to the volume dripped
Thread.Sleep(dripInterval);
await vsmdController.MoveTo(VsmdAxis.Z, curBoardSetting.CurrentBoard.ZTravel);
// change the screen to start
await pumpController.Drip();
//await Task.Delay(1000);
MoveCallBack(blockNum, row, col);
m_dripIndex = i;
}
AfterMove();
}
private async void btnMoveToBack_Click(object sender, EventArgs e)
{
BoardSetting curBoardSetting = BoardSetting.GetInstance();
bool bok = await VsmdController.GetVsmdController().MoveTo(VsmdAxis.Y, 30500);
if (bok)
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Info, "移动到后端!");
}
else
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Error, "未能移动到后端!");
}
}
private void InitBoardSettings()
{
cmbBoards.Items.Clear();
txtDelaySeconds.Text = Preference.GetInstace().DelaySeconds.ToString();
var allMetas = BoardSetting.GetInstance().GetAllBoardMetaes();
List <BoardMeta> sortedMetas = new List <BoardMeta>();
if (BoardSetting.GetInstance().NamesOrder.Count > 0)
{
foreach (var boardName in BoardSetting.GetInstance().NamesOrder)
{
var validNameMetas = allMetas.Where(x => x.Name == boardName);
if (validNameMetas.Count() > 0)
{
sortedMetas.Add(validNameMetas.First());
//allMetas.Remove(validNameMetas.First());
}
}
}
foreach (var meta in allMetas) //add remaining
{
if (!sortedMetas.Contains(meta))
{
sortedMetas.Add(meta);
}
}
sortedMetas.ForEach(x => cmbBoards.Items.Add(x));
Preference perfInst = Preference.GetInstace();
if (cmbBoards.Items.Count > 0)
{
if (perfInst.HasPreference)
{
BoardMeta findBoardMeta = BoardSetting.GetInstance().GetAllBoardMetaes().Find((meta) =>
{
return(meta.ID == perfInst.BoardID);
});
if (findBoardMeta != null)
{
cmbBoards.SelectedItem = findBoardMeta;
}
}
else
{
cmbBoards.SelectedIndex = 0;
}
}
}
private void InitListView()
{
List <BoardMeta> list = BoardSetting.GetInstance().GetAllBoardMetaes();
int no = 1;
list.ForEach((meta) =>
{
ListViewItem lvm = new ListViewItem(no.ToString());
lvm.SubItems.Add(meta.Name);
lvm.Tag = meta;
listView.Items.Add(lvm);
no++;
});
}
private void tsmiDelete_Click(object sender, EventArgs e)
{
bool ret = BoardSetting.GetInstance().DeleteBoard(m_curMeta);
if (ret)
{
ShowMessage(MessageType.Info, "删除成功！");
ResetData();
}
else
{
ShowMessage(MessageType.Error, "删除失败！");
}
}
public async void MoveToHere(string args)
{
JObject targetTube = (JObject)JsonConvert.DeserializeObject(args);
int blockNum, row, col;
GetPositionInfo(targetTube, out blockNum, out row, out col);
VsmdController vsmdController = VsmdController.GetVsmdController();
BoardSetting curBoardSetting = BoardSetting.GetInstance();
//await vsmdController.MoveTo(VsmdAxis.X, curBoardSetting.Convert2PhysicalPos(VsmdAxis.X, blockNum, col));
//await vsmdController.MoveTo(VsmdAxis.Y, curBoardSetting.Convert2PhysicalPos(VsmdAxis.Y, blockNum, row));
var moveXTask = vsmdController.MoveTo(VsmdAxis.X, curBoardSetting.Convert2PhysicalPos(VsmdAxis.X, blockNum, col));
var moveYTask = vsmdController.MoveTo(VsmdAxis.Y, curBoardSetting.Convert2PhysicalPos(VsmdAxis.Y, blockNum, row));
await Task.WhenAll(moveXTask, moveYTask);
}
private void FormDatToMetaImpl(BoardMeta meta)
{
if (m_mode == FORM_MODE.Add)
{
meta.ID = BoardSetting.GetInstance().GetNextBoardNum();
}
meta.Name = txtName.Text.Trim();
meta.WashTimes = int.Parse(txtWashTimes.Text);
meta.WashDelaySeconds = int.Parse(txtWashDelaySeconds.Text);
meta.WashX = int.Parse(txtWashX.Text);
meta.WashY = int.Parse(txtWashY.Text);
meta.WashZ = int.Parse(txtWashZ.Text);
meta.Type = rbtSite.Checked ? 1 : 2;
if (rbtSite.Checked)
{
meta.SiteCount = int.Parse(txtSiteCnt.Text);
meta.RowCount = int.Parse(txtSiteRowCnt.Text);
meta.ColumnCount = int.Parse(txtSiteColCnt.Text);
meta.Site1FirstTubeX = int.Parse(txtSite1FTX.Text);
meta.Site1FirstTubeY = int.Parse(txtSite1FTY.Text);
meta.Site1LastTubeX = int.Parse(txtSite1LTX.Text);
meta.Site1LastTubeY = int.Parse(txtSite1LTY.Text);
meta.Site2FirstTubeX = int.Parse(txtSite2FTX.Text);
meta.Site2FirstTubeY = int.Parse(txtSite2FTY.Text);
meta.TouchEdgeOffset = int.Parse(txtTouchPosition.Text) - meta.Site1FirstTubeX;
}
else
{
meta.GridCount = int.Parse(txtGridCnt.Text);
meta.RowCount = int.Parse(txtGridRowCnt.Text);
meta.GridFirstTubeX = int.Parse(txtGridFTX.Text);
meta.GridFirstTubeY = int.Parse(txtGridFTY.Text);
meta.GridLastTubeX = int.Parse(txtGridLTX.Text);
meta.GridLastTubeY = int.Parse(txtGridLTY.Text);
meta.TouchEdgeOffset = int.Parse(txtTouchPosition.Text) - meta.GridFirstTubeX;
}
meta.ZTravel = int.Parse(txtZTravel.Text);
meta.ZDispense = int.Parse(txtZDispense.Text);
meta.DelaySeconds = float.Parse(txtTouchDelaySeconds.Text);
}
private void btnOK_Click(object sender, EventArgs e)
{
if (!ValidFormData())
{
return;
}
//BoardMeta meta = GetTempBoardSetting();
FormDatToMeta();
bool ret = true;
if (m_mode == FORM_MODE.Add)
{
ret = BoardSetting.GetInstance().AddNewBoard(m_curMeta);
if (ret)
{
ShowMessage(MessageType.Info, "添加成功！");
ResetData();
}
else
{
ShowMessage(MessageType.Error, "添加失败！");
}
}
else if (m_mode == FORM_MODE.Update)
{
//BoardSetting.GetInstance().AddNewBoard(m_curMeta);
ret = BoardSetting.GetInstance().Save();
if (ret)
{
ShowMessage(MessageType.Info, "更新成功！");
ResetData();
}
else
{
ShowMessage(MessageType.Error, "更新失败！");
}
}
}
private void FormDatToMetaImpl(BoardMeta meta)
{
if (m_mode == FORM_MODE.Add)
{
meta.ID = BoardSetting.GetInstance().GetNextBoardNum();
}
meta.Name = txtName.Text.Trim();
meta.Type = rbtSite.Checked ? 1 : 2;
if (rbtSite.Checked)
{
meta.SiteCount = int.Parse(txtSiteCnt.Text);
meta.RowCount = int.Parse(txtSiteRowCnt.Text);
meta.ColumnCount = int.Parse(txtSiteColCnt.Text);
meta.Site1FirstTubeX = int.Parse(txtSite1FTX.Text);
meta.Site1FirstTubeY = int.Parse(txtSite1FTY.Text);
meta.Site1LastTubeX = int.Parse(txtSite1LTX.Text);
meta.Site1LastTubeY = int.Parse(txtSite1LTY.Text);
meta.Site2FirstTubeX = int.Parse(txtSite2FTX.Text);
meta.Site2FirstTubeY = int.Parse(txtSite2FTY.Text);
meta.ZTravel = int.Parse(txtSiteZTravel.Text);
meta.ZDispense = int.Parse(txtSiteZDispense.Text);
}
else
{
meta.GridCount = int.Parse(txtGridCnt.Text);
meta.RowCount = int.Parse(txtGridRowCnt.Text);
meta.GridFirstTubeX = int.Parse(txtGridFTX.Text);
meta.GridFirstTubeY = int.Parse(txtGridFTY.Text);
meta.GridLastTubeX = int.Parse(txtGridLTX.Text);
meta.GridLastTubeY = int.Parse(txtGridLTY.Text);
meta.ZTravel = int.Parse(txtGridZTravel.Text);
meta.ZDispense = int.Parse(txtGridZDispense.Text);
}
}
/// <summary>
/// called from JS
/// </summary>
/// <param name="args"></param>
public void StartDrip(string args)
{
m_selectedTubes = (JArray)JsonConvert.DeserializeObject(args.ToString());
m_sortedTubesArr = new JToken[m_selectedTubes.Count];
m_selectedTubes.CopyTo(m_sortedTubesArr, 0);
Array.Sort(m_sortedTubesArr, (token1, token2) =>
{
int ret = 1;
JObject obj1 = (JObject)token1;
JObject obj2 = (JObject)token2;
int type = int.Parse(obj1["type"].ToString());
if (type == (int)BoardType.Site)
{
int site1, site2, row1, row2, col1, col2;
site1 = int.Parse(obj1["site"].ToString());
site2 = int.Parse(obj2["site"].ToString());
row1 = int.Parse(obj1["row"].ToString());
row2 = int.Parse(obj2["row"].ToString());
col1 = int.Parse(obj1["col"].ToString());
col2 = int.Parse(obj2["col"].ToString());
if (col1 < col2)
{
ret = -1;
}
else if (col1 == col2)
{
ret = ((site1 - 1) * BoardSetting.GetInstance().CurrentBoard.RowCount + row1) < ((site2 - 1) * BoardSetting.GetInstance().CurrentBoard.RowCount + row2) ? -1 : 1;
}
else
{
ret = 1;
}
}
else
{
int grid1, grid2, row1, row2;
grid1 = int.Parse(obj1["grid"].ToString());
grid2 = int.Parse(obj2["grid"].ToString());
row1 = int.Parse(obj1["row"].ToString());
row2 = int.Parse(obj2["row"].ToString());
if (grid1 < grid2)
{
ret = -1;
}
else if (grid1 == grid2)
{
ret = row1 < row2 ? -1 : 1;
}
else
{
ret = 1;
}
}
return(ret);
});
m_pipettingIndex = -1;
DoPipetting();
m_selectedTubes.Clear();
//m_moveThread = new Thread(new ThreadStart(PipettingThread));
//m_moveThread.Start();
}
public static void SetCurrentBoardSetting(BoardSetting setting)
{
m_curBoardSetting = setting;
}