private void BeginArmMovement(int timeForMovement, Model_Arm.ArmPosition newPosn)
{
// Should only get here with a positive time and the _ArmTimer not running
// Double check the arm and grip are not already moving
if ((timeForMovement >= 0) &&
(Model_Arm.ArmStatus.HALT == ArmStatus) &&
(Model_Arm.GripStatus.HALT == GripStatus) &&
(false == _ArmTimer.Enabled))
{
// Set the Arm status to moving as we simulate the arm movement
ArmStatus = Model_Arm.ArmStatus.MOVING;
// Set the current arm position to unknown as we simulate that we cannot know where it is
ArmPosition = Model_Arm.ArmPosition.UNKNOWN;
// Do not change grip position
FutureGripPosition = GripPosition;
// Future arm position set
FutureArmPosition = newPosn;
_ArmTimer.Interval = timeForMovement;
_ArmTimer.Enabled = true;
_ArmTimer.Start();
}
}
/// <summary>
/// Fires when the grip movement has simulated and the appropriate time has elapsed
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _Griptimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
_GripTimer.Stop();
_GripTimer.Enabled = false;
// Arm and Grip have finished movement
ArmPosition = FutureArmPosition;
ArmStatus = Model_Arm.ArmStatus.HALT;
GripPosition = FutureGripPosition;
GripStatus = Model_Arm.GripStatus.HALT;
// Clear future positions
FutureArmPosition = Model_Arm.ArmPosition.UNKNOWN;
FutureGripPosition = Model_Arm.GripPosition.UNKNOWN;
// Notify top level state machine of success
if (Model_Arm.GripPosition.CLOSED == GripPosition)
{
RaiseGripEventOnTopLevel(OnGripUpdateEvent, new object[] { this, true, VialIndex, GripPosition, Rack, string.Format("\nAt {0}: Grabbed Vial ID{1} from {2} rack", e.SignalTime, VialIndex, Rack) });
}
if (Model_Arm.GripPosition.OPEN == GripPosition)
{
RaiseGripEventOnTopLevel(OnGripUpdateEvent, new object[] { this, true, VialIndex, GripPosition, Rack, string.Format("\nAt {0}: Released Vial ID{1} to {2} rack", e.SignalTime, VialIndex, Rack) });
}
}
/// <summary>
/// Fires when the arm movement has simulated and the appropriate time has elapsed
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _Armtimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
_ArmTimer.Stop();
_ArmTimer.Enabled = false;
// Arm and Grip have finished movement
ArmPosition = FutureArmPosition;
ArmStatus = Model_Arm.ArmStatus.HALT;
GripPosition = FutureGripPosition;
GripStatus = Model_Arm.GripStatus.HALT;
// Clear future positions
FutureArmPosition = Model_Arm.ArmPosition.UNKNOWN;
FutureGripPosition = Model_Arm.GripPosition.UNKNOWN;
// Notify top level state machine of success
RaiseArmEventOnTopLevel(OnArmUpdateEvent, new object[] { this, true, string.Format("\nAt {0}: Arm is at {1}", e.SignalTime, ArmPosition) });
}
private void BeginGripMovement(int timeForGripAction, int index, Model_Rack.RackPurpose rack, Model_Arm.GripPosition newPosn, Model_Arm.GripStatus newStatus)
{
// Should only get here with a positive time and the _ArmTimer not running
// Double check the arm and grip are not already moving
if ((timeForGripAction >= 0) &&
(Model_Arm.ArmStatus.HALT == ArmStatus) &&
(Model_Arm.GripStatus.HALT == GripStatus) &&
(false == _GripTimer.Enabled))
{
// Set the grip status and next state
GripPosition = Model_Arm.GripPosition.UNKNOWN;
GripStatus = newStatus;
FutureGripPosition = newPosn;
VialIndex = index;
Rack = rack;
// Do not overwrite arm position
FutureArmPosition = ArmPosition;
_GripTimer.Interval = timeForGripAction;
_GripTimer.Enabled = true;
_GripTimer.Start();
}
}
/// <summary>
/// Received then the grip has completed a movement
/// </summary>
/// <param name="sender"></param>
/// <param name="proceed"></param>
/// <param name="message"></param>
private void Arm_OnGripUpdateEventReceived(ViewModel_Arm sender, bool proceed, int index, Model_Arm.GripPosition grip, Model_Rack.RackPurpose rack, string message)
{
if (proceed)
{
if (SimulationState.STAGE1_PICK_UP_INPUT_VIAL == _CurrentState)
{
// Belt and braces
if (Model_Rack.RackPurpose.INPUT == rack)
{
// Just picked up from input so set current input ID
_InputRack.SetCurrentID(index);
_RefreshInput = false;
}
}
if (SimulationState.STAGE6_PICK_UP_OUTPUT_VIAL == _CurrentState)
{
// Belt and braces
if (Model_Rack.RackPurpose.OUTPUT == rack)
{
// Just picked up from output so set current output ID
_OutputRack.SetCurrentID(index);
}
}
if (SimulationState.STAGE10_PLACE_VIAL_AT_OUTPUT == _CurrentState)
{
// Belt and braces
if (Model_Rack.RackPurpose.OUTPUT == rack)
{
_OutputRack.SetCurrentID(index + 1);
}
}
DoProceed();
}
RaiseEventOnTopLevel(OnSimulationUpdateEvent, new object[] { this, message });
}
