private async Task <bool> StsImpl(VsmdAxis axis)
{
await VsmdController.GetVsmdController().Sts(axis);
string newPos = VsmdController.GetVsmdController().GetAxis(axis).curPos.ToString();
switch (axis)
{
case VsmdAxis.X:
txtPosX.Text = newPos;
break;
case VsmdAxis.Y:
txtPosY.Text = newPos;
break;
case VsmdAxis.Z:
txtPosZ.Text = newPos;
break;
default:
break;
}
return(true);
}
private void InitAxises()
{
if (!VsmdController.GetVsmdController().IsInitialized())
{
StatusBar.DisplayMessage(MessageType.Error, "设备未连接！");
DisableAllControls();
return;
}
VsmdInfoSync ax = VsmdController.GetVsmdController().GetAxis(VsmdAxis.X);
txtCidX.Text = ax.Cid.ToString();
txtPosX.Text = ax.curPos.ToString();
txtSpeedX.Text = ax.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdX.Text = ax.GetAttributeValue(VsmdAttribute.Zsd).ToString();
VsmdInfoSync ay = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Y);
txtCidY.Text = ay.Cid.ToString();
txtPosY.Text = ay.curPos.ToString();
txtSpeedY.Text = ay.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdY.Text = ay.GetAttributeValue(VsmdAttribute.Zsd).ToString();
VsmdInfoSync az = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Z);
txtCidZ.Text = az.Cid.ToString();
txtPosZ.Text = az.curPos.ToString();
txtSpeedZ.Text = az.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdZ.Text = az.GetAttributeValue(VsmdAttribute.Zsd).ToString();
}
private void btnOK_Click(object sender, EventArgs e)
{
GeneralSettingMeta meta = GeneralSettings.GetInstance().GetSettingMeta();
//meta.DispenseInterval = (int)numDripInter.Value;
meta.MoveSpeed = float.Parse(txtMoveSpd.Text.Trim());
meta.AutoConnect = ckbAutoConnect.Checked;
meta.OutputCommandLog = ckbEnableCmdLog.Checked;
meta.OutputStsCommandLog = ckbEnableStsCmdLog.Checked;
meta.PipettingSpeed = int.Parse(txtPipettingSpeed.Text);
bool retVal = GeneralSettings.GetInstance().Save();
if (retVal)
{
StatusBar.DisplayMessage(MessageType.Info, "设置成功！");
if (VsmdController.GetVsmdController().IsInitialized())
{
VsmdController.GetVsmdController().SetOutputCommandLogFlag(meta.OutputCommandLog);
}
this.Close();
}
else
{
StatusBar.DisplayMessage(MessageType.Error, "设置失败！");
}
}
private async void GoHome()
{
VsmdInfoSync ax = VsmdController.GetVsmdController().GetAxis(VsmdAxis.X);
var speedX = ax.GetAttributeValue(VsmdAttribute.Spd);
var zsdX = ax.GetAttributeValue(VsmdAttribute.Zsd);
VsmdInfoSync ay = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Y);
var speedY = ay.GetAttributeValue(VsmdAttribute.Spd);
var zsdY = ay.GetAttributeValue(VsmdAttribute.Zsd);
VsmdInfoSync az = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Z);
var speedZ = az.GetAttributeValue(VsmdAttribute.Spd);
var zsdZ = az.GetAttributeValue(VsmdAttribute.Zsd);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.Z, zsdZ);
await VsmdController.GetVsmdController().ZeroStart(VsmdAxis.Z);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.X, zsdX);
VsmdController.GetVsmdController().ZeroStart(VsmdAxis.X);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.Y, zsdY);
await VsmdController.GetVsmdController().ZeroStart(VsmdAxis.Y);
//set positive limit register
ax.cfgPsr(3);
ay.cfgPsr(3);
az.cfgPsr(3);
}
private void ConnectVsmd_FormClosing(object sender, FormClosingEventArgs e)
{
if (VsmdController.GetVsmdController().IsInitialized())
{
SavePref();
}
}
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 async void Move2Position(VsmdAxis axis, int val)
{
var spd = VsmdController.GetVsmdController().GetAxis(axis).GetAttributeValue(VsmdLib.VsmdAttribute.Spd);
await VsmdController.GetVsmdController().SetSpeed(axis, spd);
await VsmdController.GetVsmdController().MoveTo(axis, val);
}
public static VsmdController GetVsmdController()
{
if (m_vsmdController == null)
{
m_vsmdController = new VsmdController();
}
return(m_vsmdController);
}
private async Task <bool> MoveAxis(float speed)
{
await VsmdController.GetVsmdController().SetSpeed(m_axisType, speed);
VsmdController.GetVsmdController().GetAxis(m_axisType).SendCommand("mov");
m_inMoving = true;
return(true);
}
public async Task <bool> PumpDrip()
{
VsmdController vsmdController = VsmdController.GetVsmdController();
await vsmdController.SetS3Mode(VsmdAxis.Z, 1);
await SwitchS3OnOff();
return(true);
}
/// <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");
}
public async Task <bool> SwitchS3OnOff()
{
VsmdController vsmdController = VsmdController.GetVsmdController();
Thread.Sleep(500);
await vsmdController.S3On(VsmdAxis.Z);
Thread.Sleep(500);
await vsmdController.S3Off(VsmdAxis.Z);
return(true);
}
public void StopMove()
{
DripStatus preMode = m_dripStatus;
m_dripStatus = DripStatus.Idle;
m_selectedTubes.Clear();
VsmdController.GetVsmdController().Stop();
if (preMode == DripStatus.PauseMove)
{
AfterMove();
}
}
private void SetTubePositionFrm_Load(object sender, EventArgs e)
{
m_preAxisSpeed = VsmdController.GetVsmdController().GetAxis(m_axisType).GetAttributeValue(VsmdLib.VsmdAttribute.Spd);
if (m_axisType == VsmdAxis.X)
{
lblTip.Text = "请通过键盘上\"←\"和、\"→\"来操作。";
}
else if (m_axisType == VsmdAxis.Y)
{
lblTip.Text = "请通过键盘上\"↑\"和、\"↓\"来操作。";
}
this.KeyPreview = true;
}
private void MainFrm_FormClosing(object sender, FormClosingEventArgs e)
{
if (m_dripForm != null)
{
if (m_dripForm.PipettingStatus != PipettingStatus.Idle)
{
e.Cancel = true;
StatusBar.DisplayMessage(MessageType.Warning, "正在运行，请勿关闭！");
return;
}
}
VsmdController.GetVsmdController().Dispose();
}
private async void btnMoveFront_Click(object sender, EventArgs e)
{
bool bok = await VsmdController.GetVsmdController().MoveTo(VsmdAxis.Y, 100);
if (bok)
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Info, "移动到最前端!");
}
else
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Error, "未能移动到最前端!");
}
}
/// <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 BoardSettingFrm_Load(object sender, EventArgs e)
{
panelGrid.Top = panelSite.Top;
m_curMeta = new BoardMeta();
m_curMeta.Type = (int)BoardType.Site;
FillData();
m_mode = FORM_MODE.Add;
if (!VsmdController.GetVsmdController().IsInitialized())
{
StatusBar.DisplayMessage(MessageType.Error, "设备未连接！");
DisableControls();
return;
}
}
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 async void SetTubePositionFrm_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Left ||
e.KeyCode == Keys.Right ||
e.KeyCode == Keys.Up ||
e.KeyCode == Keys.Down)
{
if (m_inMoving)
{
await VsmdController.GetVsmdController().Stop(m_axisType);
m_inMoving = false;
txtPos.Text = VsmdController.GetVsmdController().GetAxis(m_axisType).curPos.ToString();
}
}
}
private async Task <bool> BeforeMove()
{
m_dripStatus = DripStatus.Moving;
CallJS("JsExecutor.beforeMove();");
if (!m_isFromPause)
{
VsmdController vsmdController = VsmdController.GetVsmdController();
await vsmdController.ZeroStart(VsmdAxis.X);
await vsmdController.ZeroStart(VsmdAxis.Y);
await vsmdController.ZeroStart(VsmdAxis.Z);
}
return(true);
}
private async Task <bool> SaveImpl(VsmdAxis axis)
{
switch (axis)
{
case VsmdAxis.X:
if (!string.IsNullOrWhiteSpace(txtSpeedX.Text))
{
await VsmdController.GetVsmdController().SetSpeed(axis, float.Parse(txtSpeedX.Text));
}
if (!string.IsNullOrWhiteSpace(txtZsdX.Text))
{
await VsmdController.GetVsmdController().SetZsd(axis, float.Parse(txtZsdX.Text));
}
break;
case VsmdAxis.Y:
if (!string.IsNullOrWhiteSpace(txtSpeedY.Text))
{
await VsmdController.GetVsmdController().SetSpeed(axis, float.Parse(txtSpeedY.Text));
}
if (!string.IsNullOrWhiteSpace(txtZsdY.Text))
{
await VsmdController.GetVsmdController().SetZsd(axis, float.Parse(txtZsdY.Text));
}
break;
case VsmdAxis.Z:
if (!string.IsNullOrWhiteSpace(txtSpeedZ.Text))
{
await VsmdController.GetVsmdController().SetSpeed(axis, float.Parse(txtSpeedZ.Text));
}
if (!string.IsNullOrWhiteSpace(txtZsdX.Text))
{
await VsmdController.GetVsmdController().SetZsd(axis, float.Parse(txtZsdZ.Text));
}
break;
default:
break;
}
return(true);
}
public void UpdateControlState()
{
if (VsmdController.GetVsmdController().IsInitialized())
{
cmbPort.Enabled = false;
cmbBaudrate.Enabled = false;
cmbPumpPort.Enabled = false;
lblCurInfo.Text = "已连接";
btnConnect.Text = "断开连接";
}
else
{
cmbPort.Enabled = true;
cmbBaudrate.Enabled = true;
cmbPumpPort.Enabled = true;
lblCurInfo.Text = "未连接";
btnConnect.Text = "连接";
}
}
public void Move()
{
VsmdController vsmdController = VsmdController.GetVsmdController();
if (!vsmdController.IsInitialized())
{
StatusBar.DisplayMessage(MessageType.Error, "设备未连接！");
return;
}
float spdX = vsmdController.GetAxis(VsmdAxis.X).GetAttributeValue(VsmdLib.VsmdAttribute.Spd);
float spdY = vsmdController.GetAxis(VsmdAxis.Y).GetAttributeValue(VsmdLib.VsmdAttribute.Spd);
float spdZ = vsmdController.GetAxis(VsmdAxis.Z).GetAttributeValue(VsmdLib.VsmdAttribute.Spd);
string errAxis = "";
if (spdX <= 0.0)
{
errAxis += "X";
}
if (spdY <= 0.0)
{
if (errAxis.Length > 0)
{
errAxis += ",";
}
errAxis += "Y";
}
if (spdZ <= 0.0)
{
if (errAxis.Length > 0)
{
errAxis += ",";
}
errAxis += "Z";
}
if (errAxis.Length > 0)
{
StatusBar.DisplayMessage(MessageType.Error, "控制轴" + errAxis + "速度不能为0！");
}
else
{
CallJS("JsExecutor.startDrip()");
}
}
private async Task <bool> AfterMove()
{
//await VsmdController.GetVsmdController().Off(VsmdAxis.X);
//await VsmdController.GetVsmdController().Off(VsmdAxis.Y);
bool bok = await VsmdController.GetVsmdController().MoveTo(VsmdAxis.Y, 100);
if (m_dripStatus != PipettingStatus.PauseMove)
{
CallJS("JsExecutor.afterMove();");
m_isFromPause = false;
m_dripStatus = PipettingStatus.Idle;
m_selectedTubes.Clear();
if (onPipettingFinished != null)
{
onPipettingFinished();
}
}
return(bok);
}
private void tsmDrip_Click(object sender, EventArgs e)
{
SetAllSubFormState();
if (VsmdController.GetVsmdController().IsInitialized())
{
if (m_dripForm == null || !m_dripForm.IsOpened)
{
m_dripForm = new DripFrm();
m_dripForm.MdiParent = this;
//m_dripForm.WindowState = FormWindowState.Maximized;
m_dripForm.Show();
}
else
{
m_dripForm.BringToFront();
}
}
else
{
StatusBar.DisplayMessage(MessageType.Error, "设备未连接！");
}
}
private async void btnResetControler_Click(object sender, EventArgs e)
{
await VsmdController.GetVsmdController().ResetVsmdController();
}
private async void btnConnect_Click(object sender, EventArgs e)
{
if (VsmdController.GetVsmdController().IsInitialized())
{
VsmdController.GetVsmdController().Dispose();
PumpController.GetPumpController().Dispose();
UpdateControlState();
return;
}
if (m_isConnecting)
{
return;
}
if (cmbPort.SelectedItem == null)
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Error, "电机端口不能为空！");
return;
}
if (cmbPumpPort.SelectedItem == null)
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Error, "蠕动泵端口不能为空！");
return;
}
string vsmdPort = cmbPort.SelectedItem.ToString();
string pumpPort = cmbPumpPort.SelectedItem.ToString();
if (vsmdPort == pumpPort)
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Error, "电机端口与蠕动泵端口不能相同！");
return;
}
int baudrate = int.Parse(cmbBaudrate.SelectedItem.ToString());
if (vsmdPort == VsmdController.GetVsmdController().GetPort() &&
baudrate == VsmdController.GetVsmdController().GetBaudrate() &&
pumpPort == PumpController.GetPumpController().GetPort())
{
if (m_initCB != null)
{
m_initCB(new InitResult()
{
Message = "设备连接成功!", IsSuccess = true
});
}
this.Close();
}
m_isConnecting = true;
InitResult vsmdRet = await VsmdController.GetVsmdController().Init(vsmdPort, baudrate);
InitResult pumpRet = PumpController.GetPumpController().Init(pumpPort);
if (m_initCB != null)
{
InitResult connectRet = new InitResult();
connectRet.IsSuccess = vsmdRet.IsSuccess && pumpRet.IsSuccess;
connectRet.Message = vsmdRet.IsSuccess ? pumpRet.Message : vsmdRet.Message;
m_initCB(connectRet);
m_isConnecting = false;
}
if (vsmdRet.IsSuccess && pumpRet.IsSuccess)
{
this.Close();
}
}
private void ConnectVsmd_Load(object sender, EventArgs e)
{
cmbPort.Items.AddRange(SerialPort.GetPortNames());
cmbPumpPort.Items.AddRange(SerialPort.GetPortNames());
if (VsmdController.GetVsmdController().IsInitialized())
{
//lblCurInfo.Text = VsmdController.GetVsmdController().GetPort() + ", " + VsmdController.GetVsmdController().GetBaudrate() + ", " + PumpController.GetPumpController().GetPort();
int idx = cmbPort.Items.IndexOf(VsmdController.GetVsmdController().GetPort());
if (idx > -1)
{
cmbPort.SelectedIndex = idx;
}
idx = cmbBaudrate.Items.IndexOf(VsmdController.GetVsmdController().GetBaudrate().ToString());
if (idx > -1)
{
cmbBaudrate.SelectedIndex = idx;
}
idx = cmbPumpPort.Items.IndexOf(PumpController.GetPumpController().GetPort());
if (idx > -1)
{
cmbPumpPort.SelectedIndex = idx;
}
UpdateControlState();
return;
}
else
{
UpdateControlState();
}
if (Preference.GetInstace().HasPreference)
{
int idx = cmbPort.Items.IndexOf(Preference.GetInstace().VsmdPort);
if (idx > -1)
{
cmbPort.SelectedIndex = idx;
}
idx = cmbBaudrate.Items.IndexOf(Preference.GetInstace().Baudrate.ToString());
if (idx > -1)
{
cmbBaudrate.SelectedIndex = idx;
}
idx = cmbPumpPort.Items.IndexOf(Preference.GetInstace().PumpPort);
if (idx > -1)
{
cmbPumpPort.SelectedIndex = idx;
}
}
else
{
if (cmbPort.Items.Count > 0)
{
cmbPort.SelectedIndex = 0;
cmbPumpPort.SelectedIndex = 0;
}
cmbBaudrate.SelectedIndex = 2;
}
IsClosed = false;
if (GeneralSettings.GetInstance().AutoConnect)
{
btnConnect_Click(null, null);
}
}
