public void executeAction(DataSets.dsModuleStructure3.dtActionValueRow row)
{
if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.OPEN)
{
byte pourcentage = Convert.ToByte(row.description);
Dynamixel2CANQueue.openGripper(pourcentage);
//DynamixelCom.sendInstruction(INST_OPEN_GRIPPER);
}
//else if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.CLOSE)
//{
// DynamixelCom.sendInstruction(INST_CLOSE_GRIPPER);
//}
else if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.TILT)
{
Dynamixel2CANQueue.TiltGripper(UInt16.Parse(row.description));
//DynamixelCom.sendInstruction(INST_TILT, UInt16.Parse(row.description));
}
//else if(row.dtActionTypeRow.pk_id == DBManager.ActionTypes.ROTATE)
//{
// DynamixelCom.sendInstruction(INST_ROTATE, UInt16.Parse(row.description));
//}
//else if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.SPEED)
//{
// String[] values = row.description.Split(',');
// byte id = byte.Parse(values[0]);
// UInt16 speed = UInt16.Parse(values[1]);
// DynamixelCom.sendInstruction(INST_SET_MOVING_SPEED, id, speed);
//}
//else if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.TORQUE)
//{
// //String[] values = row.description.Split(',');
// //byte id = byte.Parse(values[0]);
// //UInt16 torque = UInt16.Parse(values[1]);
// Dynamixel2CANQueue.setMaxTorque()
// //DynamixelCom.sendInstruction(INST_SET_MOVING_SPEED, id, torque);
//}
//else if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.TORQUE_ENABLE)
//{
// // DynamixelCom.sendInstruction(INST_SET_TORQUE_ENABLE, UInt16.Parse(row.description));
//}
else if (row.dtActionTypeRow.pk_id == DBManager.ActionTypes.DELAY_MS)
{
System.Threading.Thread.Sleep(Int32.Parse(row.description));
}
else if (row.dtActionTypeRow.pk_id == MOVE_Z3)
{
Int16 tempValue = 0;
if (Int16.TryParse(row.description, out tempValue))
{
DynamixelCom.sendPositionToMoveTo(tempValue);
}
}
else if (row.dtActionTypeRow.pk_id == HOME)
{
DynamixelCom.homeTool();
}
}
private void crudOptionsAction_ModifyClickHandler(object sender, EventArgs e)
{
abstractDialog dialog = new abstractDialog("Action type", "Modify");
DataSets.dsModuleStructure3.dtActionValueRow row = getSelectedActionRow();
if (row == null)
{
return;
}
namedInputTextBox index = new namedInputTextBox("Index: ", row.index.ToString());
namedInputTextBox description = new namedInputTextBox("Description", row.description);
namedComboBox ActionType = new namedComboBox("Action Type: ");
namedComboBox ActionValueType = new namedComboBox("Action Value Type: ");
ActionType.Text = "Action Type";
ActionType.getComboBox().DataSource = dsModuleStructureGUI.dtActionType;
ActionType.getComboBox().ValueMember = "pk_id";
ActionType.getComboBox().DisplayMember = "description";
ActionType.getComboBox().SelectedValue = row.fk_action_type;
ActionValueType.Text = "Action Value Type";
ActionValueType.getComboBox().DataSource = dsModuleStructureGUI.dtActionValueType;
ActionValueType.getComboBox().ValueMember = "pk_id";
ActionValueType.getComboBox().DisplayMember = "description";
ActionValueType.getComboBox().SelectedValue = row.fk_action_value_type;
dialog.addNamedInputTextBox(index);
dialog.addNamedInputTextBox(description);
dialog.addControl(ActionType);
dialog.addControl(ActionValueType);
dialog.ShowDialog();
DataSets.dsModuleStructure3.dtActionTypeRow Actionrow;
DataRowView ActionCombo = ActionType.getComboBox().SelectedItem as DataRowView;
Actionrow = ActionCombo.Row as DataSets.dsModuleStructure3.dtActionTypeRow;
DataSets.dsModuleStructure3.dtActionValueTypeRow ActionValueTyperow;
DataRowView ActionValueTypecombo = ActionValueType.getComboBox().SelectedItem as DataRowView;
ActionValueTyperow = ActionValueTypecombo.Row as DataSets.dsModuleStructure3.dtActionValueTypeRow;
if (dialog.DialogResult.Equals(DialogResult.OK))
{
row.index = string.IsNullOrEmpty(index.getInputTextValue()) ? 0 : int.Parse(index.getInputTextValue());
row.description = description.getInputTextValue();
row.fk_action_type = Actionrow.pk_id;
row.fk_action_value_type = ActionValueTyperow.pk_id;
updateActionRow(row);
}
}
public void updateRow(DataSets.dsModuleStructure3.dtActionValueRow updateRow)
{
try
{
taActionValue.Update(updateRow);
}
catch (Exception ex)
{
MessageBox.Show("Invalid step composite row, try again !",
"Error !",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
_dsModuleStructure.RejectChanges();
}
}
public void updateActionRow(DataSets.dsModuleStructure3.dtActionValueRow updateRow)
{
try
{
taActionValue1.Update(updateRow);
}
catch (Exception ex)
{
MessageBox.Show("Invalid action type, try again !",
"Error !",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
dsModuleStructureGUI.RejectChanges();
}
}
public void executeAction(DataSets.dsModuleStructure3.dtActionValueRow row)
{
if (row.dtActionTypeRow.pk_id == PIPETTE)
{
Int16 volume = 0;
if (Int16.TryParse(row.description, out volume))
{
SingleChannelPipette.pipette(volume);
wait.Reset();
wait.WaitOne();
Int16 delay = Convert.ToInt16(row.description);
System.Threading.Thread.Sleep(delay / 2);
}
}
else if (row.dtActionTypeRow.pk_id == DISPENSE)
{
Int16 volume = 0;
if (Int16.TryParse(row.description, out volume))
{
SingleChannelPipette.dispense(volume);
wait.Reset();
wait.WaitOne();
Int16 delay = Convert.ToInt16(row.description);
System.Threading.Thread.Sleep(delay / 2);
}
}
else if (row.dtActionTypeRow.pk_id == MOVE_Z1)
{
Int16 tempValue = 0;
if (Int16.TryParse(row.description, out tempValue))
{
SingleChannelPipette.sendPositionToMoveTo(tempValue);
wait.Reset();
wait.WaitOne();
}
}
else if (row.dtActionTypeRow.pk_id == HOME)
{
SingleChannelPipette.homeTool();
wait.Reset();
wait.WaitOne();
}
}
public void executeAction(DataSets.dsModuleStructure3.dtActionValueRow action)
{
int moduleTypeId = action.dtStepLeafRow.dtStepCompositeRow.dtModuleRow.dtModuleTypeRow.pk_id;
if (moduleTypeId == TOOL_HOLDER)
{
movement.move(action);
}
else if (moduleTypeId == PINCE)
{
pince.executeAction(action);
}
else if (moduleTypeId == SNGLE_CHANNEL_PIPETTE)
{
singleChannePipette.executeAction(action);
}
else if (moduleTypeId == MULTI_CHANNEL_PIPETTE)
{
multiChannelPipette.executeAction(action);
}
}
private void AutoFillToolStripMenuItem_Click(object sender, EventArgs e)
{
String protocolType = ((ToolStripMenuItem)sender).Text;
//dialog result for adding new node to treeview
DialogResult dialogResultAddNode = DialogResult.Cancel;
frmNewProtocol frmProtocolAdd;
frmNewStep _frmNewStep;
TreeNode treeNode = new TreeNode();
switch (protocolType)
{
case PROTOCOL_TYPE:
frmProtocolAdd = new frmNewProtocol();
dialogResultAddNode = frmProtocolAdd.ShowDialog();
if (dialogResultAddNode == DialogResult.OK)
{
//treeNodeText = frmProtocolAdd.getStepName();
DataSets.dsModuleStructure3.dtStepCompositeRow compositeRow = _dsModuleStructure.dtStepComposite.NewdtStepCompositeRow();
DataSets.dsModuleStructure3.dtModuleRow module = getSelectedModuleRow();
if (module == null)
{
return;
}
if (module.pk_id.Length == 0)
{
return;
}
compositeRow.fk_module_id = module.pk_id;
compositeRow.description = frmProtocolAdd.getStepName();
if (tlvSteps.SelectedNode != null)
{
if (tlvSteps.SelectedNode is StepCompositeNode)
{
StepCompositeNode stepCompositeNode = tlvSteps.SelectedNode as StepCompositeNode;
compositeRow.fk_step_parent_id = stepCompositeNode.getStepCompositeRow().pk_id;
}
}
_dsModuleStructure.dtStepComposite.AdddtStepCompositeRow(compositeRow);
updateRow(compositeRow);
treeNode = new Steps.Parameter_controls.StepCompositeNode(compositeRow);
}
break;
case STEP_TYPE:
DataSets.dsModuleStructure3.dtModuleRow moduleRow = getSelectedModuleRow();
DataSets.dsModuleStructure3.dtStepCompositeRow c = _dsModuleStructure.dtStepComposite.NewdtStepCompositeRow();
if (moduleRow == null)
{
break;
}
c.fk_module_id = moduleRow.pk_id;
//c.fk
String headerTitle = moduleRow.pk_id.ToString();
_frmNewStep = new frmNewStep(_dsModuleStructure, moduleRow);
dialogResultAddNode = _frmNewStep.ShowDialog();
if (dialogResultAddNode.Equals(DialogResult.OK))
{
if (tlvSteps.SelectedNode is StepCompositeNode)
{
StepCompositeNode stepCompositeNode = tlvSteps.SelectedNode as StepCompositeNode;
DataSets.dsModuleStructure3.dtStepLeafRow stepLeafRow = _dsModuleStructure.dtStepLeaf.NewdtStepLeafRow();
stepLeafRow.fk_step_composite = stepCompositeNode.getStepCompositeRow().pk_id;
stepLeafRow.description = _frmNewStep.getStepDescription();
_dsModuleStructure.dtStepLeaf.AdddtStepLeafRow(stepLeafRow);
updateRow(stepLeafRow);
treeNode = new StepLeafNode(stepLeafRow, _dsModuleStructure.dtActionValue);
Dictionary <dsModuleStructure3.dtModuleTypeActionTypeRow, ctrlCommand> command = _frmNewStep.getActionValues();
foreach (KeyValuePair <dsModuleStructure3.dtModuleTypeActionTypeRow, ctrlCommand> kvp in command)
{
Dictionary <dsModuleStructure3.dtActionTypeRow, namedInputTextBox> actionTypeInputBoxDict = kvp.Value.getActionTypesValues();
foreach (KeyValuePair <dsModuleStructure3.dtActionTypeRow, namedInputTextBox> kvpActionType in actionTypeInputBoxDict)
{
if (kvpActionType.Value.getInputTextValue().Length != 0)
{
DataSets.dsModuleStructure3.dtActionValueRow actionValue = _dsModuleStructure.dtActionValue.NewdtActionValueRow();
actionValue.fk_action_type = kvpActionType.Key.pk_id;
actionValue.fk_action_value_type = kvp.Key.dtActionValueTypeRow.pk_id;
actionValue.fk_step_leaf_id = stepLeafRow.pk_id;
actionValue.description = kvpActionType.Value.getInputTextValue();
_dsModuleStructure.dtActionValue.AdddtActionValueRow(actionValue);
updateRow(actionValue);
}
}
}
}
}
break;
default:
break;
}
if (dialogResultAddNode.Equals(DialogResult.OK))
{
if (tlvSteps.SelectedNode != null)
{
tlvSteps.SelectedNode.Nodes.Add(treeNode);
}
else
{
tlvSteps.Nodes.Add(treeNode);
}
}
}
public void move(DataSets.dsModuleStructure3.dtActionValueRow actionValue)
{
if (actionValue.fk_action_type == SET_TARGET_TEMPERATURE)
{
byte[] toSend = new byte[8];
String[] values = actionValue.description.Split(',');
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x00; // Instruction number: 0 --> Set target temperature
toSend[3] = 0x00; // Spare byte
toSend[4] = byte.Parse(values[0]);
toSend[5] = byte.Parse(values[1]);
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == SET_AGITATOR_SPEED)
{
byte[] toSend = new byte[8];
String[] values = actionValue.description.Split(',');
byte speed = byte.Parse(values[0]);
if (speed > 100)
{
speed = 100;
}
else if (speed < 0) // Not sure if required....
{
speed = 0;
}
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x01; // Instruction number: 1 --> Set agitator speed
toSend[3] = 0x00; // Spare byte
toSend[4] = speed; // Agitator speed in %
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == SET_FAN_SPEED)
{
byte[] toSend = new byte[8];
String[] values = actionValue.description.Split(',');
byte speed = byte.Parse(values[0]);
if (speed > 100)
{
speed = 100;
}
else if (speed < 0)
{
speed = 0;
}
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x02; // Instruction number: 2 --> Set fan speed
toSend[3] = 0x00; // Spare byte
toSend[4] = speed; // Desired speed in %
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == START_CALIBRATION)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x03; // Instruction number: 3 --> Start calibration
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == STOP_CALIBRATION)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x04; // Instruction number: 4 --> Stop calibration
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == START_TEMPERATURE_MAINTAIN)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x05; // Instruction number: 5 --> Start temperature maintain
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == STOP_TEMPERATURE_MAINTAIN)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x06; // Instruction number: 6 --> Stop temperature maintain
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == ENABLE_FAN)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x07; // Instruction number: 7 --> Start fan
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == DISABLE_FAN)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x08; // Instruction number: 8 --> Stop fan
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == ENABLE_AGITATOR)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x09; // Instruction number: 9 --> Start fan
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == DISABLE_AGITATOR)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x0A; // Instruction number: 10 --> Stop fan
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == GET_FAN_SPEED)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x0D; // Instruction number: 13 --> Get fan speed
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == GET_TEMPERATURE)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x0E; // Instruction number: 14 --> Get temperature
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
else if (actionValue.fk_action_type == GET_TURBIDITY)
{
byte[] toSend = new byte[8];
toSend[0] = 0x00; // Will be replaced by something like byte.Parse(values[0]); // Device ID
toSend[1] = 0x01; // Submodule ID
toSend[2] = 0x0F; // Instruction number: 15 --> Get fan speed
toSend[3] = 0x00; // Spare byte
toSend[4] = 0x00; // Unused
toSend[5] = 0x00; // Unused
toSend[6] = 0x00; // Unused
toSend[7] = 0x00; // Unused
TacComm.sendInstruction(toSend);
}
acknowledgeEvent.Reset();
acknowledgeEvent.WaitOne();
}
public void move(DataSets.dsModuleStructure3.dtActionValueRow actionValue)
{
if (actionValue.fk_action_type == MOVE_X)
{
//String value = "X" + Int32.Parse(actionValue.description) + '\n';
//String value = "G1 X" + Int32.Parse(actionValue.description) / 10 + " F" + desiredXSpeed + "\n";
String value = "G1 X" + Int32.Parse(actionValue.description) / 10;
write(value);
wait.WaitOne();
}
else if (actionValue.fk_action_type == MOVE_Y)
{
//String value = "Y" + Int32.Parse(actionValue.description) + '\n';
//String value = "G1 Y" + Int32.Parse(actionValue.description) / 10 + " F" + desiredYSpeed + "\n";
String value = "G1 Y" + Int32.Parse(actionValue.description) / 10;
write(value);
wait.WaitOne();
}
else if (actionValue.fk_action_type == MOVE_Z1)
{
Int16 tempValue = 0;
if (Int16.TryParse(actionValue.description, out tempValue))
{
SingleChannelPipette.sendPositionToMoveTo(tempValue);
wait.WaitOne();
}
//serial.Write("Z1" + Int32.Parse(actionValue.description) + '\n');
}
else if (actionValue.fk_action_type == MOVE_Z2)
{
Int16 tempValue = 0;
if (Int16.TryParse(actionValue.description, out tempValue))
{
MultiChannelPipette.sendPositionToMoveTo(tempValue);
wait.WaitOne();
}
//serial.Write("Z2" + Int32.Parse(actionValue.description) + '\n');
}
else if (actionValue.fk_action_type == MOVE_Z3)
{
Int16 tempValue = 0;
if (Int16.TryParse(actionValue.description, out tempValue))
{
DynamixelCom.sendPositionToMoveTo(tempValue);
wait.WaitOne();
}
//serial.Write("Z3" + Int32.Parse(actionValue.description) + '\n');
}
else if (actionValue.fk_action_type == HOME)
{
switch (actionValue.description)
{
case "X":
//write("HX",1);
write("G28 X");
wait.WaitOne();
break;
case "Y":
//write("HY",1);
write("G28 Y");
wait.WaitOne();
break;
case "Z1":
SingleChannelPipette.homeTool();
wait.WaitOne();
break;
case "Z2":
MultiChannelPipette.homeTool();
wait.WaitOne();
break;
case "Z3":
DynamixelCom.homeTool();
wait.WaitOne();
break;
default:
break;
}
//if (actionValue.description ==
//serial.Write("H" + actionValue.description + '\n');
}
}