public void SetPressure(double pressure)
{
lock (this)
{
this.manualMode = PumpModes.pressure;
this.manualSetPoint = pressure;
}
}
public void Update(double pressureReading, double speedReading)
{
States processedState;
this.pressureReading = pressureReading;
this.speedReading = speedReading;
DateTime now = DateTime.Now;
TimeSpan ts = now - this.lastVolumeUpdate;
this.lastVolumeUpdate = now;
bool nozzleExteded = NicBotComm.Instance.GetNozzleExtended(this.location);
if (false != nozzleExteded)
{
double volumePerSecond = this.GetVolumePerSecond();
double addedVolume = ts.TotalSeconds * volumePerSecond;
this.measuredVolume += addedVolume;
}
do
{
processedState = this.state;
switch (this.state)
{
#region case States.stopped:
case States.stopped:
{
if (false != this.autoActivated)
{
this.mode = (false != this.parameters.PressureAutoFill) ? PumpModes.pressure : PumpModes.volume;
this.setPoint = (false != this.parameters.PressureAutoFill) ? this.parameters.AutoFillPressure.OperationalValue : this.parameters.AutoFillVolume.OperationalValue;
this.autoState = PumpAutoStates.running;
this.autoStep = AutoSteps.start;
this.state = States.running;
}
else if ((false != manualControl) || (false != this.manualPressureRelief))
{
this.state = States.setManual;
}
else
{
this.mode = (false != this.parameters.PressureAutoFill) ? PumpModes.pressure : PumpModes.volume;
this.setPoint = (false != this.parameters.PressureAutoFill) ? this.parameters.AutoFillPressure.OperationalValue : this.parameters.AutoFillVolume.OperationalValue;
}
break;
}
#endregion
#region case States.running:
case States.running:
{
if (false != this.autoPaused)
{
this.on = false;
this.speedSetting = 0;
this.state = States.pausedWaitStop;
this.autoState = PumpAutoStates.paused;
}
else if (false != this.autoActivated)
{
AutoSteps processedAutoStep;
#region Automatic Process
do
{
processedAutoStep = this.autoStep;
switch (this.autoStep)
{
case AutoSteps.start:
{
this.autoStep = AutoSteps.extend;
break;
}
case AutoSteps.extend:
{
if (false == nozzleExteded)
{
NicBotComm.Instance.SetNozzleExtend(this.location, true);
this.autoTimeLimit = DateTime.Now.AddMilliseconds(500);
this.autoStep = AutoSteps.waitExtend;
}
else
{
this.autoStep = AutoSteps.pumpStart;
}
break;
}
case AutoSteps.waitExtend:
{
if (DateTime.Now > this.autoTimeLimit)
{
this.autoStep = AutoSteps.pumpStart;
}
break;
}
case AutoSteps.pumpStart:
{
this.on = true;
this.direction = PumpDirections.forward;
this.speedSetting = this.parameters.ForwardSpeed.OperationalValue;
this.autoStep = AutoSteps.waitSetPoint;
break;
}
case AutoSteps.waitSetPoint:
{
if (PumpModes.volume == this.mode)
{
// speed = percentage of difference
double volumePerSecond = this.GetVolumePerSecond();
double remainingVolume = this.setPoint - this.measuredVolume;
double secondsRemaining = remainingVolume / volumePerSecond;
double adjustedSetupPoint = this.setPoint - (volumePerSecond / 3);
if (secondsRemaining < 0.7)
{
this.speedSetting = this.parameters.ForwardSpeed.OperationalValue * (0.05);
}
else if (secondsRemaining < 2)
{
this.speedSetting = this.parameters.ForwardSpeed.OperationalValue * (0.5);
}
if (this.measuredVolume >= adjustedSetupPoint)
{
Tracer.WriteMedium(TraceGroup.PUMP, "", "volume good, stop {0}", this.measuredVolume);
this.autoStep = AutoSteps.pumpStop;
}
}
else if (PumpModes.pressure == this.mode)
{
if (this.pressureReading >= this.parameters.AutoFillPressure.OperationalValue)
{
this.autoStep = AutoSteps.pumpStop;
}
}
break;
}
case AutoSteps.pumpStop:
{
this.on = false;
this.speedSetting = 0;
this.autoStep = AutoSteps.waitpumpStop;
break;
}
case AutoSteps.waitpumpStop:
{
if (0 == this.speedReading)
{
this.autoStep = AutoSteps.relieve;
}
break;
}
case AutoSteps.relieve:
{
double tolerance = 0.5;
double upperLimit = this.parameters.RelievedPressure.OperationalValue + tolerance;
if ((false != this.parameters.AutoPressureRelief) && (this.pressureReading > upperLimit))
{
this.mode = PumpModes.pressure;
this.setPoint = this.parameters.RelievedPressure.OperationalValue;
this.on = true;
this.direction = PumpDirections.reverse;
this.speedSetting = this.parameters.ReverseSpeed.OperationalValue;
this.autoStep = AutoSteps.waitRelieve;
}
else
{
this.autoStep = AutoSteps.retract;
}
break;
}
case AutoSteps.waitRelieve:
{
double tolerance = 0.5;
double upperLimit = this.parameters.RelievedPressure.OperationalValue + tolerance;
if (this.pressureReading <= upperLimit)
{
this.on = false;
this.direction = PumpDirections.forward;
this.speedSetting = 0;
this.autoStep = AutoSteps.retract;
}
break;
}
case AutoSteps.retract:
{
if (false != this.parameters.AutoNozzleRetraction)
{
NicBotComm.Instance.SetNozzleExtend(ToolLocations.front, false);
NicBotComm.Instance.SetNozzleExtend(ToolLocations.rear, false);
this.autoTimeLimit = DateTime.Now.AddMilliseconds(500);
this.autoStep = AutoSteps.waitRetract;
}
else
{
this.autoStep = AutoSteps.complete;
}
break;
}
case AutoSteps.waitRetract:
{
if (DateTime.Now > this.autoTimeLimit)
{
this.autoStep = AutoSteps.complete;
}
break;
}
case AutoSteps.complete:
{
this.autoActivated = false;
break;
}
}
if (processedAutoStep != this.autoStep)
{
Tracer.WriteMedium(TraceGroup.PUMP, null, "pump auto step {0}", this.autoStep.ToString());
}
}
while (processedAutoStep != this.autoStep);
#endregion
}
else
{
this.on = false;
this.speedSetting = 0;
this.autoState = PumpAutoStates.off;
this.state = States.stopped;
}
break;
}
#endregion
#region case States.pausedWaitStop:
case States.pausedWaitStop:
{
if (0 == this.speedReading)
{
this.state = States.paused;
}
break;
}
#endregion
#region case States.paused:
case States.paused:
{
if (false == this.autoActivated)
{
this.autoState = PumpAutoStates.off;
this.state = States.stopped;
}
else if (false == autoPaused)
{
this.autoState = (false != this.autoActivated) ? PumpAutoStates.running : PumpAutoStates.off;
this.state = States.stopped;
}
else if ((false != manualControl) || (false != this.manualPressureRelief))
{
this.state = States.setManual;
}
break;
}
#endregion
#region case States.setManual:
case States.setManual:
{
if ((false == this.manualControl) && (false == this.manualPressureRelief))
{
this.autoState = (false != this.autoActivated) ? PumpAutoStates.running : PumpAutoStates.off;
this.state = States.stopped;
}
else if (false != this.manualPressureRelief)
{
this.mode = PumpModes.pressure;
this.setPoint = this.parameters.RelievedPressure.OperationalValue;
this.on = true;
this.state = States.manualRelief;
Tracer.WriteMedium(TraceGroup.PUMP, "", "pressure relief");
}
else
{
this.mode = this.manualMode;
this.on = true;
if (PumpModes.speed == this.mode)
{
this.setPoint = this.manualSetPoint;
this.direction = this.manualDirection;
this.speedSetting = this.setPoint;
this.state = States.manualSpeed;
}
else if (PumpModes.pressure == this.mode)
{
this.setPoint = this.manualSetPoint;
if (this.pressureReading > this.setPoint)
{
this.manualDirection = PumpDirections.reverse;
}
else
{
this.manualDirection = PumpDirections.forward;
}
this.state = States.manualPressure;
}
Tracer.WriteMedium(TraceGroup.PUMP, "", "manual mode {0}", this.mode.ToString());
}
break;
}
#endregion
#region case States.manualSpeed:
case States.manualSpeed:
{
if ((false == this.manualControl) || (false != this.manualPressureRelief) || (this.manualMode != this.mode) || (this.direction != this.manualDirection))
{
this.setPoint = 0;
this.state = States.manualStop;
}
else
{
this.setPoint = this.manualSetPoint;
this.speedSetting = this.setPoint;
}
break;
}
#endregion
#region case States.manualPressure:
case States.manualPressure:
{
if ((false == this.manualControl) || (false != this.manualPressureRelief) || (this.manualMode != this.mode))
{
this.state = States.manualStop;
}
else
{
if (this.setPoint != this.manualSetPoint)
{
if (this.pressureReading > this.manualSetPoint)
{
if (this.setPoint > this.manualSetPoint)
{
this.manualDirection = PumpDirections.reverse;
}
else
{
this.manualDirection = PumpDirections.forward;
}
}
else
{
if (this.setPoint < this.manualSetPoint)
{
this.manualDirection = PumpDirections.forward;
}
else
{
this.manualDirection = PumpDirections.reverse;
}
}
this.setPoint = this.manualSetPoint;
}
PumpDirections neededDirection = PumpDirections.forward;
double neededSpeed = 0;
if (PumpDirections.forward == this.manualDirection)
{
double tolarence = 0.5;
double limit = this.setPoint - tolarence;
neededDirection = PumpDirections.forward;
if (this.pressureReading < limit)
{
neededSpeed = this.parameters.ForwardSpeed.OperationalValue;
}
}
else if (PumpDirections.reverse == this.manualDirection)
{
double tolarence = 0.5;
double limit = this.setPoint + tolarence;
neededDirection = PumpDirections.reverse;
if (this.pressureReading > limit)
{
neededSpeed = this.parameters.ReverseSpeed.OperationalValue;
}
}
if ((neededDirection != this.direction) && (0 != this.speedReading))
{
Tracer.WriteMedium(TraceGroup.PUMP, "", "manual pressure direction to {0}", neededDirection.ToString());
this.state = States.manualStop;
}
else
{
this.direction = neededDirection;
this.speedSetting = neededSpeed;
}
}
break;
}
#endregion
#region case States.manualRelief:
case States.manualRelief:
{
double neededSpeed = 0;
double tolarence = 0.5;
double upperLimit = this.setPoint + tolarence;
if (this.pressureReading > upperLimit)
{
neededSpeed = this.parameters.ReverseSpeed.OperationalValue;
}
if (0 == neededSpeed)
{
this.manualPressureRelief = false;
this.manualPressureReliefStopping = true;
this.state = States.manualStop;
}
else
{
this.direction = PumpDirections.reverse;
this.speedSetting = neededSpeed;
}
break;
}
#endregion
#region case States.manualStop:
case States.manualStop:
{
this.on = false;
this.speedSetting = 0;
this.state = States.manualWaitStop;
break;
}
#endregion
#region case States.manualWaitStop:
case States.manualWaitStop:
{
if (0 == this.speedReading)
{
if (false != this.manualPressureReliefStopping)
{
if (PumpModes.speed == this.manualMode)
{
this.manualSetPoint = 0;
}
else if (PumpModes.pressure == this.manualMode)
{
this.manualSetPoint = this.pressureReading;
}
this.manualPressureReliefStopping = false;
Tracer.WriteMedium(TraceGroup.PUMP, "", "relief complete");
}
Tracer.WriteMedium(TraceGroup.PUMP, "", "manual stop complete");
this.state = States.setManual;
}
break;
}
#endregion
}
}
while (processedState != this.state);
}
public void SetSpeed(double speed)
{
lock (this)
{
this.manualMode = PumpModes.speed;
this.manualSetPoint = speed;
}
}
public void Initialize()
{
this.state = States.stopped;
this.autoActivated = false;
this.autoPaused = false;
this.autoStep = AutoSteps.complete;
this.manualControl = false;
this.manualPressureRelief = false;
this.manualPressureReliefStopping = false;
this.manualMode = PumpModes.speed;
this.manualDirection = PumpDirections.forward;
this.manualSetPoint = 0;
this.mode = PumpModes.speed;
this.setPoint = 0;
this.on = false;
this.direction = PumpDirections.forward;
this.speedSetting = 0;
this.autoState = PumpAutoStates.off;
}
