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);
}
public static PumpController GetPumpController()
{
if (m_instance == null)
{
m_instance = new PumpController();
}
return(m_instance);
}
/// <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");
}
/// <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 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);
}
}
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;
}
string vsmdPort = cmbPort.SelectedItem.ToString();
bool pumpExist = PumpController.GetPumpController().PumpExist;
InitResult pumpRet = new InitResult();
pumpRet.IsSuccess = true;
pumpRet.Message = "";
if (pumpExist)
{
if (cmbPumpPort.SelectedItem == null)
{
StatusBar.DisplayMessage(VsmdWorkstation.Controls.MessageType.Error, "蠕动泵端口不能为空！");
return;
}
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;
}
pumpRet = PumpController.GetPumpController().Init(pumpPort);
if (pumpRet.IsSuccess)
{
Preference.GetInstace().PumpPort = pumpPort;
}
Preference.GetInstace().Save();
}
int baudrate = int.Parse(cmbBaudrate.SelectedItem.ToString());
m_isConnecting = true;
InitResult vsmdRet = await VsmdController.GetVsmdController().Init(vsmdPort, baudrate);
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;
//m_initCB = null;
}
if (vsmdRet.IsSuccess && pumpRet.IsSuccess)
{
Preference.GetInstace().VsmdPort = vsmdPort;
GoHome();
this.Close();
}
}