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);
}
/// <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();
}