/// <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();
}
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);
}
