AcqPlateChanger.h

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#ifndef ROOT_AcqPlateChanger
#define ROOT_AcqPlateChanger
//                                                                      //
// AcqPlateChanger                                                      //
//                                                                      //
//  Interface to Bern emulsion plate changer                            //
//                                                                      //
//                                                                      //
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <conio.h>
#include "TObject.h"
#include "AcqStage1.h"
 
#ifndef __CINT__
#include "nidaqmx.h"
#endif
 
 
#define MAX_NUMBER_OF_PLATES        100
#define VPOS_UP     0
#define VPOS_DOWN       1
#define VPOS_DOWN_TO_STAGE      2
#define VPOS_ABOVE_STAGE        3
 
struct Identifier
{
    int Part[4];
};
 
 
 
struct TPlate
{
    Identifier id;
    int SeqNumber;
    int InBank;
    bool IsSeparator;
 
};
 
struct TBank
{
    int Number; //0- microscope, 1-3 banks 
    int NEmulsions; //how many plates it contains
    int NSeparators; //how many plates it contains
    TPlate* Plates[MAX_NUMBER_OF_PLATES*2];
};
 
 
 
//______________________________________________________________________________
class AcqPlateChanger : public TObject {
 
private:
    float StX,StY,StZ; //stage coordinates to save before arm power-on
 public:
  AcqPlateChanger();
  virtual ~AcqPlateChanger();
 
// Low level hardware control functions
void OnReset(); //Here we write all 0 in ports P4 and P5
int Initialize(AcqStage1* Stage=NULL);
int PowerON();
void PowerOFF();
int ArmVacuumControl(bool VacOn, int timeout);
int TableVacuumControl(bool VacOn, int timeout);
int  GoOnHAxis(int position, int timeout);
int  GoOnVAxis(int position, int timeout);
 
// Consistency and bank information management
int ReadStatusFile();
void UpdateStatusFile();
void ResetBanks();
virtual void Print();  
TPlate* TakeFromBank(int bnk);
void AddToBank(int bnk, TPlate* plate);
int FindEmulsion(Identifier id, int Bank);
void LoadBrick(int Brick, int Nemulsions=57, int SrcBank=1, int DestBank=2, bool Separators=true, bool FirstIsSeparator=true); 
void UnloadBrick();
 
// Emulsion and arm manipulation methods
    int Park(int idst);
    int MoveEmulsion(int isrc, int idst);
    int UnloadPlate(bool TurnPowerOff=true);
    int LoadPlate(Identifier id);
    int LoadPlate(int id0, int id1, int id2=0, int id3=0);
 
 
    bool InitDone;                  // flag set when Initialize() is done
    bool Ready;                     // flag set when banks are filled from status file 
    bool StageError;                // flag is set if the stage position changed during robot operation
                                    // this is to catch a "stage jump" bug in stage firmware
                                    // when this condition is detected stage must be re-homed by host script
    int SourceBank;                 // source bank (1 to NumberOfBanks) 
    int DestinationBank;            // source bank (1 to NumberOfBanks   
    int PositionTimeout;            // Timeout in x100ms to position the arm
    int VacuumTimeout;              // Timeout in x100ms to reach the vacuum on table or arm
    int NumberOfBanks;              // Number of banks on the table
    bool LiftCorners;               // if set - arm tries first to lift corners of the emulsion
                                    // when taking it from the stage
    int NumberOfAttempt;            // max number of attempts to take emulsion from the plate
    int SeparationAttempts;         // number of up-down movements against brushes in bank 
                                    // to separate emulsion from separator
 
    float XLoadPosition; //stage positions for safe emulsion load/unload
    float YLoadPosition;
    float ZLoadPosition;
 
  AcqStage1 *ST;    // pointer to stage
 
 
   ClassDef(AcqPlateChanger,1)  
 
};
 
 
 
#endif /* ROOT_AcqPlateChanger */