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);
}
private void btnOK_Click(object sender, EventArgs e)
{
GeneralSettingMeta meta = GeneralSettings.GetInstance().GetSettingMeta();
//meta.DispenseInterval = (int)numDripInter.Value;
meta.MoveSpeed = float.Parse(txtMoveSpd.Text.Trim());
meta.AutoConnect = ckbAutoConnect.Checked;
meta.OutputCommandLog = ckbEnableCmdLog.Checked;
meta.OutputStsCommandLog = ckbEnableStsCmdLog.Checked;
meta.PipettingSpeed = int.Parse(txtPipettingSpeed.Text);
bool retVal = GeneralSettings.GetInstance().Save();
if (retVal)
{
StatusBar.DisplayMessage(MessageType.Info, "设置成功！");
if (VsmdController.GetVsmdController().IsInitialized())
{
VsmdController.GetVsmdController().SetOutputCommandLogFlag(meta.OutputCommandLog);
}
this.Close();
}
else
{
StatusBar.DisplayMessage(MessageType.Error, "设置失败！");
}
}
private async void SetTubePositionFrm_KeyDown(object sender, KeyEventArgs e)
{
if (m_inMoving)
{
return;
}
float moveSpd = GeneralSettings.GetInstance().MoveSpeed;
if (m_axisType == VsmdAxis.X)
{
if (e.KeyCode == Keys.Right)
{
await MoveAxis(moveSpd);
}
else if (e.KeyCode == Keys.Left)
{
await MoveAxis(-moveSpd);
}
}
else if (m_axisType == VsmdAxis.Y)
{
if (e.KeyCode == Keys.Up)
{
await MoveAxis(moveSpd);
}
else if (e.KeyCode == Keys.Down)
{
await MoveAxis(-moveSpd);
}
}
}
private void MainFrm_Load(object sender, EventArgs e)
{
InitStatusBar();
Preference.GetInstace().Load();
GeneralSettings.GetInstance().LoadGeneralSettings();
BoardSetting.GetInstance().LoadBoardSettings();
InitVsmdConnection();
}
private void InitFormData()
{
GeneralSettingMeta meta = GeneralSettings.GetInstance().GetSettingMeta();
//numDripInter.Value = (decimal)meta.DispenseInterval;
txtPipettingSpeed.Text = meta.PipettingSpeed.ToString();
txtMoveSpd.Text = meta.MoveSpeed.ToString();
ckbAutoConnect.Checked = meta.AutoConnect;
ckbEnableCmdLog.Checked = meta.OutputCommandLog;
ckbEnableStsCmdLog.Checked = meta.OutputStsCommandLog;
}
/// <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 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);
}
}
public async Task <InitResult> Init(string port, int baudrate)
{
if (m_initialized && port == m_port && baudrate == m_baudrate)
{
return(new InitResult()
{
Message = "设备连接成功!", IsSuccess = true
});
}
m_port = port;
m_baudrate = baudrate;
if (m_initialized)
{
m_vsmd.closeSerialPort();
}
m_vsmd = new VsmdSync();
bool ret = m_vsmd.openSerialPort(port, baudrate);
if (!ret)
{
return(new InitResult()
{
Message = "打开串口失败!", IsSuccess = false
});
}
m_vsmd.OutputCommandLog = GeneralSettings.GetInstance().OutputCommandLog;
m_vsmd.OutputStsCommandLog = GeneralSettings.GetInstance().OutputStsCommandLog;
List <string> errAxis = new List <string>();
m_axisX = m_vsmd.createVsmdInfo(1);
await m_axisX.CheckAxisIsOnline();
if (m_axisX.isOnline)
{
await m_axisX.enable();
m_axisX.flgAutoUpdate = true;
await m_axisX.cfg();
}
else
{
errAxis.Add("X");
}
m_axisY = m_vsmd.createVsmdInfo(2);
await m_axisY.CheckAxisIsOnline();
if (m_axisY.isOnline)
{
await m_axisY.enable();
m_axisY.flgAutoUpdate = true;
await m_axisY.cfg();
}
else
{
errAxis.Add("Y");
}
m_axisZ = m_vsmd.createVsmdInfo(3);
await m_axisZ.CheckAxisIsOnline();
if (m_axisY.isOnline)
{
await m_axisZ.enable();
m_axisZ.flgAutoUpdate = true;
m_axisZ.SetMaxWaitTimeForMove(3);
await m_axisZ.cfg();
}
else
{
errAxis.Add("Z");
}
if (errAxis.Count <= 0)
{
m_initialized = true;
}
string errMsg = "";
if (errAxis.Count > 0)
{
errMsg = "设备 ";
for (int i = 0; i < errAxis.Count; i++)
{
if (i > 0)
{
errMsg += ", ";
}
errMsg += errAxis[i];
}
errMsg += "连接失败！";
}
if (!m_initialized)
{
m_vsmd.closeSerialPort();
m_vsmd = null;
}
return(new InitResult()
{
IsSuccess = m_initialized, Message = errMsg
});
}