AcqPlateChanger Class Reference

#include <AcqPlateChanger.h>

Inheritance diagram for AcqPlateChanger:

Collaboration diagram for AcqPlateChanger:

Public Member Functions
	AcqPlateChanger ()
void	AddToBank (int bnk, TPlate *plate)
int	ArmVacuumControl (bool VacOn, int timeout)
int	FindEmulsion (Identifier id, int Bank)
int	GoOnHAxis (int position, int timeout)
int	GoOnVAxis (int position, int timeout)
int	Initialize (AcqStage1 *Stage=NULL)
void	LoadBrick (int Brick, int Nemulsions=57, int SrcBank=1, int DestBank=2, bool Separators=true, bool FirstIsSeparator=true)
int	LoadPlate (Identifier id)
int	LoadPlate (int id0, int id1, int id2=0, int id3=0)
int	MoveEmulsion (int isrc, int idst)
void	OnReset ()
int	Park (int idst)
void	PowerOFF ()
int	PowerON ()
virtual void	Print ()
int	ReadStatusFile ()
void	ResetBanks ()
int	TableVacuumControl (bool VacOn, int timeout)
TPlate *	TakeFromBank (int bnk)
void	UnloadBrick ()
int	UnloadPlate (bool TurnPowerOff=true)
void	UpdateStatusFile ()
virtual	~AcqPlateChanger ()

Public Attributes
int	DestinationBank
bool	InitDone
bool	LiftCorners
int	NumberOfAttempt
int	NumberOfBanks
int	PositionTimeout
bool	Ready
int	SeparationAttempts
int	SourceBank
AcqStage1 *	ST
bool	StageError
int	VacuumTimeout
float	XLoadPosition
float	YLoadPosition
float	ZLoadPosition

Private Attributes
float	StX
float	StY
float	StZ

Constructor & Destructor Documentation

AcqPlateChanger()

AcqPlateChanger::AcqPlateChanger

(

)

{
        InitDone=false;
        Ready=false;
        PositionTimeout=50;
        NumberOfBanks=3;
        VacuumTimeout=10;
        LiftCorners=false;
        NumberOfAttempt=20;
        SeparationAttempts=2;
        ST=NULL;
        XLoadPosition=-84000; 
        YLoadPosition=5000;
        ZLoadPosition=5000;
        SourceBank=1;
         DestinationBank=2;
         StageError=false;
 
 
 
}

~AcqPlateChanger()

AcqPlateChanger::~AcqPlateChanger ( )

virtual

{
    OnReset();
}

Member Function Documentation

AddToBank()

void AcqPlateChanger::AddToBank	(	int	bnk,
		TPlate *	plate
	)

{
    // puts the info on plate to the container (nothing is done physically)
    // to keep track of real world situation
    for(int i=Bank[bnk].NEmulsions+Bank[bnk].NSeparators;i>0;i--) {
        Bank[bnk].Plates[i]=Bank[bnk].Plates[i-1];
    }
 plate->InBank=bnk;
 plate->SeqNumber=0;
 Bank[bnk].Plates[0]=plate;
 if(plate->IsSeparator) Bank[bnk].NSeparators++;
 else Bank[bnk].NEmulsions++;
 UpdateStatusFile();
 
}

ArmVacuumControl()

int AcqPlateChanger::ArmVacuumControl	(	bool	VacOn,
		int	timeout
	)

{
    // Switches the vacuum on/off at arm holder, if vacuum is not reached within given timeout returns -timeout,
    // otherwise returns actual time spent to reach vacuum
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 datain[8];
    uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
    //Read whatever is set on Output Port X
    DAQmxReadDigitalLines (writehandle, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    // Toggle Vacuum valve bit (Bit7 on X )
    if(VacOn) dataout[7]=1; else dataout[7]=0;
    //Write back to port
    DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    gSystem->Sleep(100);    
    //Wait for vacuum sensor (Bit 7)
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
    while(datain[7]==0 && tme<timeout)
    {
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
      gSystem->Sleep(100);tme++;
    }
    if(tme>=timeout)
    {
        return -tme;
    }
    return tme;
 
 
}

FindEmulsion()

int AcqPlateChanger::FindEmulsion	(	Identifier	id,
		int	Bank
	)

{
    // returns the sequence number of the given emulsion in the bank
    // if not found, returns -1
    for(int i=0;i<Bank[bnk].NEmulsions+Bank[bnk].NSeparators;i++) {
     if(Bank[bnk].Plates[i]->IsSeparator==false)
     if(Bank[bnk].Plates[i]->id.Part[0]==id.Part[0])
     if(Bank[bnk].Plates[i]->id.Part[1]==id.Part[1])
     if(Bank[bnk].Plates[i]->id.Part[2]==id.Part[2])
     if(Bank[bnk].Plates[i]->id.Part[3]==id.Part[3])
         return i;
    }
 
 return -1;
}

GoOnHAxis()

int AcqPlateChanger::GoOnHAxis	(	int	position,
		int	timeout
	)

{
    // Moves arm horisontally to position <position>, if  not reached within given timeout returns -timeout,
    // otherwise returns actual time spent to reach position
    // ************ WARNING!!!!!!!  This low level function is not mechanically safe!! 
    // ************                 It may damage the plate changer
    // ************                 if used without caution to set the arm into UPMOST POSITION!
 
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 datain[8];
    uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
//  if(PowerON()==-1) return -timeout;
    //Read whatever is set on Output Port X
    DAQmxReadDigitalLines (writehandle, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    //Move to position on Axis
    if(position & 1) dataout[1]=1; else dataout[1]=0;//Bank mask bit 1
    if(position & 2) dataout[2]=1; else dataout[2]=0;//Bank mask bit 2
    if(position & 4) dataout[3]=1; else dataout[3]=0;//Bank mask bit 3
    DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    gSystem->Sleep(10);
    dataout[6]=abs(1-dataout[6]);
    DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    gSystem->Sleep(100);    
    dataout[6]=abs(1-dataout[6]);
    DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    //Check if position is reached
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
    tme=0;
//  while(datain[0]*datain[1]*datain[2]==0 && tme<timeout)
    while(datain[0]*datain[2]==0 && tme<timeout)
    {
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
      gSystem->Sleep(100);tme++;
    }
    if(tme==timeout)
    {
        return -tme;
    }
    return tme;
 
}

GoOnVAxis()

int AcqPlateChanger::GoOnVAxis	(	int	position,
		int	timeout
	)

{
    // Moves arm vertically to position <position>, if  not reached within given timeout returns -timeout,
    // otherwise returns actual time spent to reach position
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 datain[8];
    uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
    //Read whatever is set on Output Port Z
    DAQmxReadDigitalLines (writehandlez, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    //Move to position on Axis
    if(position & 1) dataout[1]=1; else dataout[1]=0;//Bank mask bit 1
    if(position & 2) dataout[2]=1; else dataout[2]=0;//Bank mask bit 2
    DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    gSystem->Sleep(10);
    dataout[6]=abs(1-dataout[6]);
    DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    gSystem->Sleep(100);    
    dataout[6]=abs(1-dataout[6]);
 //   dataout[6]=0;
    DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    //Check if position is reached
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
    tme=0;
//  while(datain[0]*datain[1]*datain[2]==0 && tme<timeout)
    while(datain[0]*datain[2]==0 && tme<timeout)
    {
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
      gSystem->Sleep(100);tme++;
    }
    if(tme==timeout)
    {
        return -tme;
    }
    return tme;
 
}

Initialize()

int AcqPlateChanger::Initialize

(

AcqStage1 *

Stage = NULL

)

{
    // initializes the arm drives, vacuum generators,
    // moves the arm to position 1 up,
    // reads the status file and sets flags InitDone, Ready
    ST=Stage;
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 datain[8];
    uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
    printf("Initializing Plate changer..\n");
 
    DAQmxSetDigitalPowerUpStates ("Dev1", "Dev1/port0/line0:7", DAQmx_Val_Low, NULL);
    DAQmxSetDigitalPowerUpStates ("Dev1", "Dev1/port1/line0:7", DAQmx_Val_Low, NULL);
 
    readhandle = 0;
    readhandlez = 0;
    writehandle = 0;
    writehandlez = 0;
    //Initialisation of reading X coord.
//  printf("readhandle "); fflush(stdout);
    DAQmxCreateTask ("read", &readhandle);
    DAQmxCreateDIChan (readhandle, "Dev1/port1/line0:7", "", DAQmx_Val_ChanForAllLines);
    //Initialisation of reading Z coord.
//  printf("readhandlez "); fflush(stdout);
    DAQmxCreateTask ("readz", &readhandlez);
    DAQmxCreateDIChan (readhandlez, "Dev1/port0/line0:7", "", DAQmx_Val_ChanForAllLines);
    //Initialisation of writing X coord.
//  printf("writehandle "); fflush(stdout);
    DAQmxCreateTask ("write", &writehandle);
    DAQmxCreateDOChan (writehandle, "Dev1/port5/line0:7", "", DAQmx_Val_ChanForAllLines);
    //Initialisation of writing Z coord.
//  printf("writehandlez "); fflush(stdout);
    DAQmxCreateTask ("writez", &writehandlez);
    DAQmxCreateDOChan (writehandlez, "Dev1/port4/line0:7", "", DAQmx_Val_ChanForAllLines);
    //printf("ok. \n"); fflush(stdout);
    InitDone=false;
    ResetBanks();
 
printf("Resetting ports.. "); fflush(stdout);
    //reset ports 4 & 5
    //Writing to P5
        DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
        DAQmxWaitUntilTaskDone (writehandle, 10.0);
        DAQmxStopTask (writehandle);
        //Writing to P4
        DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
        DAQmxWaitUntilTaskDone (writehandlez, 10.0);
        DAQmxStopTask (writehandlez);
 
/*  //checking 24 V
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
        if (datain[7] == 0)//checking 24 V
    {
        printf("Please check 24V on drive\n");
        return;
    }
    */
    //Set AH on both drives
        printf("Setting AH.. "); fflush(stdout);
    dataout[0]=1;
    DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    gSystem->Sleep(20);
    //Check RDY signal
    printf("Checking H RDY.."); fflush(stdout);
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
    if(datain[0]==0) 
    {
        printf("Vertical drive controller error!\n");
        OnReset();
        return 0;
    }
    printf("OK..Checking H RDY.."); fflush(stdout);
 
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandle);
    if(datain[0]==0) 
    {
        printf("Horizontal drive controller error!\n");
        OnReset();
        return 0;
    }
    printf("OK.."); fflush(stdout);
 
    gSystem->Sleep(500);
    printf("Arm up.."); fflush(stdout);
 
    if(GoOnVAxis(VPOS_UP,PositionTimeout )<0)
    {
        printf("Vertical drive position is not reached!\n");
        OnReset();
        return 0;
    }
    printf("Arm to pos 2.."); fflush(stdout);
    if(GoOnHAxis(2,PositionTimeout)<0)
    {
        printf("Horizontal drive position is not reached!\n");
        OnReset();
        return 0;
    }
    InitDone=true;
    Ready=false;
    printf("Reading status file.."); fflush(stdout);
 
    ReadStatusFile();
 
   if(EmulsionOnTable) TableVacuumControl(true,1);
    printf("Done!"); fflush(stdout);
    Dump();
    PowerOFF();
    return 1;
}

LoadBrick()

void AcqPlateChanger::LoadBrick	(	int	Brick,
		int	Nemulsions = 57,
		int	SrcBank = 1,
		int	DestBank = 2,
		bool	Separators = true,
		bool	FirstIsSeparator = true
	)

{
    // Lets user load the emulsion pile into <isrc> bank, updates StatusFile.
    int res,inumem,ibrick;
    ibrick=Brick;
    inumem=Nemulsions;
    if(isrc<1 || isrc>3 || idest<1 || idest>3 || isrc==idest || inumem<=0) {
        printf("Wrong bank assignements!\n");
        return;
    }
if(!InitDone) Initialize();
    PowerON();
Park(idest);
printf("Load source bank, top sheet must be "); 
if( FirstIsSeparator) printf("the separator sheet "); 
else printf("the first emulsion ");
printf(", then press any key :"); fflush(stdout);
getchar();
printf("\n");
 
res=TableVacuumControl(true,VacuumTimeout); TableVacuumControl(false,1);
while(res>=0){
    printf("Please remove emulsion from the stage, then press any key :");
    getchar();
    printf("\n");
    res=TableVacuumControl(true,VacuumTimeout); TableVacuumControl(false,1);
}
//for(int bnk=0; bnk<NumberOfBanks+1;bnk++){ 
//  Bank[bnk].NEmulsions=0;
//  Bank[bnk].NSeparators=0;
//  }
ResetBanks();
SourceBank=isrc;
DestinationBank=idest;
 
Bank[isrc].NEmulsions=inumem;   
if(   Separators    ) Bank[isrc].NSeparators=inumem;
if( FirstIsSeparator ) { 
    (Bank[isrc].NSeparators)++;
  Bank[isrc].Plates[0]=new TPlate; //add sep
  Bank[isrc].Plates[0]->SeqNumber=0;
  Bank[isrc].Plates[0]->InBank=isrc;
  Bank[isrc].Plates[0]->IsSeparator=true;
  Bank[isrc].Plates[0]->id.Part[0]=ibrick;
  Bank[isrc].Plates[0]->id.Part[1]=0;
  Bank[isrc].Plates[0]->id.Part[2]=0;
  Bank[isrc].Plates[0]->id.Part[3]=0;
 
}
int Fsep;
Fsep=FirstIsSeparator?1:0;
if(   Separators   ) for(int i=0;i<inumem;i++) {
  Bank[isrc].Plates[i*2+Fsep]=new TPlate; //add plate
  Bank[isrc].Plates[i*2+Fsep]->SeqNumber=i*2+Fsep;
  Bank[isrc].Plates[i*2+Fsep]->InBank=isrc;
  Bank[isrc].Plates[i*2+Fsep]->IsSeparator=false;
  Bank[isrc].Plates[i*2+Fsep]->id.Part[0]=ibrick;
  Bank[isrc].Plates[i*2+Fsep]->id.Part[1]=i+1;
  Bank[isrc].Plates[i*2+Fsep]->id.Part[2]=0;
  Bank[isrc].Plates[i*2+Fsep]->id.Part[3]=0;
 
  Bank[isrc].Plates[i*2+1+Fsep]=new TPlate; //add sep
  Bank[isrc].Plates[i*2+1+Fsep]->SeqNumber=i*2+1+Fsep;
  Bank[isrc].Plates[i*2+1+Fsep]->InBank=isrc;
  Bank[isrc].Plates[i*2+1+Fsep]->IsSeparator=true;
  Bank[isrc].Plates[i*2+1+Fsep]->id.Part[0]=ibrick;
  Bank[isrc].Plates[i*2+1+Fsep]->id.Part[1]=i+1;
  Bank[isrc].Plates[i*2+1+Fsep]->id.Part[2]=0;
  Bank[isrc].Plates[i*2+1+Fsep]->id.Part[3]=0;
 
}
else for(int i=0;i<inumem;i++) {
  Bank[isrc].Plates[i]=new TPlate; //add emulsion
  Bank[isrc].Plates[i]->SeqNumber=i;
  Bank[isrc].Plates[i]->InBank=isrc;
  Bank[isrc].Plates[i]->IsSeparator=false;
  Bank[isrc].Plates[i]->id.Part[0]=ibrick;
  Bank[isrc].Plates[i]->id.Part[1]=i+1;
  Bank[isrc].Plates[i]->id.Part[2]=0;
  Bank[isrc].Plates[i]->id.Part[3]=0;
 
}
 
 
Ready=true;
 
UpdateStatusFile();
PowerOFF();
}

LoadPlate() [1/2]

int AcqPlateChanger::LoadPlate

(

Identifier

id

)

{
    // Loads the plate with given Id
    // returns 0 if failed,
    // 1 if succeeded,
    // 2 if plate is already on the table
    printf("LoadPlate is in progress...\n"); fflush(stdout);
    int SeqN=-1,sn,BankN;
    int Mfrom, Mto;
    int res;
    if(FindEmulsion(id,0)>=0) {printf("Load Plate is complete (plate was already on the stage).\n"); return 2; }//Already loaded
    for(int bnk=1; bnk<NumberOfBanks+1;bnk++) {
      sn=FindEmulsion(id,bnk);
      if(sn>=0){ SeqN=sn; BankN=bnk; break;}
    }
    if(SeqN<0) {printf("Load Plate is failed. Emulsion is not found in banks!\n"); return 0; }//Emulsion is not found anywhere
    printf("Required emulsion is found in bank #%d at position %d\n",BankN,SeqN+1);
    // Emulsion is in bank  BankN at the position SeqN, SeqN=0 means at the top
    //Now put it onto the table
     if(ST)
     { //Move stage to exchange position
        ST->Z->PosMove(ZLoadPosition,1e9,1e9); 
        ST->X->PosMove(XLoadPosition,1e9,1e9); 
        ST->Y->PosMove(YLoadPosition,1e9,1e9);
        printf("Waiting for stage to reach exchange position..\n"); fflush(stdout);
        res=ST->X->WaitForMoveComplete(5e3);
        res*=ST->Y->WaitForMoveComplete(5e3);
        res*=ST->Z->WaitForMoveComplete(3e3);
        if(res==0) {printf("Stage didn't reach exchange position! Unload Plate is failed. \n"); return 0; }
     }
     else { printf("No connection with the stage (stage pointer is not set)!!! Unload Plate is failed. \n"); return 0; }
     printf("OK.\n"); //reached position;
 
    if(BankN==SourceBank) { Mfrom=BankN; Mto=DestinationBank;} 
    else                 { Mto=SourceBank; Mfrom=BankN;} 
    PowerON();
    if(EmulsionOnTable!=NULL) {
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return 0; else printf(" Continue.\n");}
        printf("OK..\nMoving emulsion from the stage..\n"); fflush(stdout);
        if(MoveEmulsion(0,Mto)!=1) { Park(Mto); return 0;};
        EmulsionOnTable=TakeFromBank(0);
        if(EmulsionOnTable) { AddToBank(Mto,EmulsionOnTable); EmulsionOnTable=NULL; }
        printf("Done.\n"); fflush(stdout);
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return 0; else printf(" Continue.\n");}
 
    }
    if(SeqN>0) printf("Moving emulsions from bank #%d to #%d\n", Mfrom,Mto); fflush(stdout);
    for(int num=0;num<SeqN;num++){ //move from one bank to another all unnecessary plates
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return 0; else printf(" Continue.\n");}
        AddToBank(Mto,TakeFromBank(Mfrom));
        if(MoveEmulsion(Mfrom,Mto)!=1) { Park(Mto); return 0;};
    }
            printf("Done.\n"); fflush(stdout);
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return 0; else printf(" Continue.\n");}
 
    //Now top in Mfrom bank must be emulsion that we search for
    if(FindEmulsion(id,Mfrom)!=0) {
        printf("Brick structure incosistent!!! Reload the brick!\n");
        return 0; //Inconsistency!!!!!
    }
        printf("OK..moving emulsion to the stage.."); fflush(stdout);
    EmulsionOnTable=TakeFromBank(Mfrom); //if movement is OK update database
    AddToBank(0,EmulsionOnTable);
    if(MoveEmulsion(Mfrom,0)!=1) {  Park(Mto); return 0;};
        printf("Done.\n"); fflush(stdout);
    Park(Mfrom);
 
    printf("Load Plate is complete.\n");
    UpdateStatusFile();
    PowerOFF();
    return 1;
}

LoadPlate() [2/2]

int AcqPlateChanger::LoadPlate	(	int	id0,
		int	id1,
		int	id2 = 0,
		int	id3 = 0
	)

{
    // Loads the plate with given indices (id0 is brick number, id1 is plate number)
    // returns 0 if failed,
    // 1 if succeeded,
    // 2 if plate is already on the table
Identifier id;
id.Part[0]=id0;
id.Part[1]=id1;
id.Part[2]=id2;
id.Part[3]=id3;
return LoadPlate(id);
}

MoveEmulsion()

int AcqPlateChanger::MoveEmulsion	(	int	isrc,
		int	idst
	)

{
    // Moves one sheet from bank to bank, whatever it is : emulsion or separator
    int res,attempt=0;
    int cornpos;
    if((isrc<0) || (isrc>3)) {printf("Wring Source Position assignement!\n");return 0;}
    if((idest<0) || (idest>3)) {printf("Wring Scanned Position assignement!\n");return 0;}
    if(isrc==idest) {printf("Same Source and Scanned Position assignement!\n");return 0;}
//  if(!PowerON()) return -1;
    printf("\n%d >   %d",isrc,idest); fflush(stdout);
    if(isrc==0) { 
        if(!LiftCorners) {
            res=GoOnHAxis(isrc,PositionTimeout);
            if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
            res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); 
            if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
            TableVacuumControl(false,1);
            res=ArmVacuumControl(true,VacuumTimeout);
            if(res<0) {printf("ArmVacuum is not reached in 2 seconds!\n");}
            if(res<0) { GoOnVAxis(VPOS_UP,PositionTimeout); return 0;} //error
        }
        TableVacuumControl(false,1);
        attempt=0;
        while(attempt<NumberOfAttempt){
         attempt++;
         if((!LiftCorners) || (attempt>1)) {
             res=GoOnVAxis(VPOS_ABOVE_STAGE,2*PositionTimeout); 
             if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
//           res=GoOnVAxis(VPOS_UP,PositionTimeout); 
             res=ArmVacuumControl(true,VacuumTimeout);
             if(res>=0) break; //The emulsion is taken succesfully
         }
//if not: try to lift up corners
         res=ArmVacuumControl(false,1); // leave emulsion
//       if((attempt/2.)==int(attempt/2.)) cornpos=4; else cornpos=5; //try to lift the corner = pos #4 or #5
         cornpos=4; //try to lift the corner = pos #4 or #5
         res=GoOnHAxis(cornpos,PositionTimeout); //try to lift the corner = pos #4 or #5
         if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout);
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         res=ArmVacuumControl(true,VacuumTimeout); //vacuum ON
         res=GoOnVAxis(VPOS_ABOVE_STAGE,2*PositionTimeout); //lift the corner
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
 
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); //back down
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         res=ArmVacuumControl(false,1); //Vacuum OFF
         res=GoOnVAxis(VPOS_UP,PositionTimeout); // Go UP
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return 0; else printf(" Continue.\n");}
 
          cornpos=5; //try to lift the corner = pos #4 or #5
         res=GoOnHAxis(cornpos,PositionTimeout); //try to lift the corner = pos #4 or #5
         if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout);
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         res=ArmVacuumControl(true,VacuumTimeout); //vacuum ON
         res=GoOnVAxis(VPOS_ABOVE_STAGE,2*PositionTimeout); //lift the corner
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
 
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); //back down
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         res=ArmVacuumControl(false,1); //Vacuum OFF
         res=GoOnVAxis(VPOS_UP,PositionTimeout); // Go UP
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return 0; else printf(" Continue.\n");}
      //   res=ArmVacuumControl(true,VacuumTimeout); //Vacuum ON
 
 
         res=GoOnHAxis(isrc,PositionTimeout); //go back to 0 position
         if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
//         res=ArmVacuumControl(true,VacuumTimeout); //Vacuum ON
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); //and DOWN again, ready for the next attempt
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         res=ArmVacuumControl(true,VacuumTimeout); //Vacuum ON
        }
 
        if(attempt==NumberOfAttempt) {
            ArmVacuumControl(false,1);
            GoOnVAxis(VPOS_UP,PositionTimeout); 
            printf("Robot can't take plate from the stage!\n");
            return 0;}
    }
    else { //taking from the bank - perform attempts to separate top emulsion from the rest
    res=GoOnHAxis(isrc,PositionTimeout);
    if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
    if(isrc==0) res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); else res=GoOnVAxis(VPOS_DOWN,PositionTimeout);
    if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
    if(isrc==0) TableVacuumControl(false,1);
    res=ArmVacuumControl(true,VacuumTimeout);
    if(res<0 && isrc==0) {printf("ArmVacuum is not reached in 2 seconds!\n");}
    if(res<0) { GoOnVAxis(VPOS_UP,PositionTimeout); return 0;} //no more emulsion in the bank
        for(int att=0;att<SeparationAttempts;att++){
         res=GoOnVAxis(VPOS_UP,PositionTimeout); // Go UP
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); //back down
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
        }
    }
    printf("\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b%d  >  %d",isrc,idest); fflush(stdout);
 
    res=GoOnVAxis(VPOS_UP,PositionTimeout); 
    if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
    res=GoOnHAxis(idest,PositionTimeout);
    if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
    if(idest==0) res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); else res=GoOnVAxis(VPOS_DOWN,PositionTimeout);
    if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
    printf("\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b%d   > %d",isrc,idest); fflush(stdout);
    res=ArmVacuumControl(false,1);
    if(idest==0) {
        res=TableVacuumControl(true,VacuumTimeout);
        if(res<0) 
         {
            printf("TableVacuum is not reached in 5 seconds!\n");
            res=GoOnVAxis(VPOS_UP,PositionTimeout);
            if(res<0) printf("Vpos is not reached in 5 seconds!\n");
            return 0;
 
         }
 
        }
    res=GoOnVAxis(VPOS_UP,PositionTimeout);
    if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
    printf("\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b                \b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b\b"); fflush(stdout);
 
    return 1;
 
}

OnReset()

void AcqPlateChanger::OnReset

(

)

{
    // resets the power on platechanger arm, turns off the vacuums
        uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
        int32 read;
        //Writing to P5
        DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
        DAQmxWaitUntilTaskDone (writehandle, 10.0);
        DAQmxStopTask (writehandle);
        //Writing to P4
        DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
        DAQmxWaitUntilTaskDone (writehandlez, 10.0);
        DAQmxStopTask (writehandlez);
        InitDone=false;
        Ready=false;
}

Park()

int AcqPlateChanger::Park

(

int

idst

)

{
    // Moves the arm up and to the idest position
    PowerON();
    int res;
    if((idest<0) || (idest>3)) {printf("Wrong Scanned Position assignement!\n");return 0;}
    res=GoOnVAxis(VPOS_UP,PositionTimeout); 
    if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
    res=GoOnHAxis(idest,PositionTimeout);
    if(res<0) {printf("Hpos is not reached in 5 seconds!\n");return 0;}
    PowerOFF();
    return 1;
}

PowerOFF()

void AcqPlateChanger::PowerOFF

(

)

{
    // Turns arm drives power OFF.
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 data[8];
    //reset ports 4 & 5 bit 0
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , data, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
    data[0]=0;
        DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , data, &read, NULL);
        DAQmxWaitUntilTaskDone (writehandle, 10.0);
        DAQmxStopTask (writehandle);
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , data, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
    data[0]=0;
        DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , data, &read, NULL);
        DAQmxWaitUntilTaskDone (writehandlez, 10.0);
        DAQmxStopTask (writehandlez);
        // chack if stage coordinate changed during arm movements and rise StageError
    if(fabs(StX - ST->X->GetPos()) >10.) StageError=true;
    if(fabs(StY - ST->Y->GetPos()) >10.) StageError=true;
    if(fabs(StZ - ST->Z->GetPos()) >5.)  StageError=true;
 
}

PowerON()

int AcqPlateChanger::PowerON

(

)

{
    // Turns arm drives power ON.
    StX=ST->X->GetPos();
    StY=ST->Y->GetPos();
    StZ=ST->Z->GetPos(); //save current stage positions
    StageError=false;
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 datain[8];
    uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
 
    //Set AH on both drives
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
    dataout[0]=1;
    DAQmxWriteDigitalLines (writehandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandle, 10.0);
    DAQmxStopTask (writehandle);
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
    dataout[0]=1;
    DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    gSystem->Sleep(20);
    //Check RDY signal
    DAQmxReadDigitalLines (readhandle, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandle, 10.0);
    DAQmxStopTask (readhandle);
    if(datain[0]==0) 
    {
        printf("Vertical drive controller error!\n");
        OnReset();
        return 0;
    }
 
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandle);
    if(datain[0]==0) 
    {
        printf("Horizontal drive controller error!\n");
        OnReset();
        return 0;
    }
    gSystem->Sleep(500);
    return 1;
 
}

Print()

void AcqPlateChanger::Print ( )

virtual

{
    // prints the content of emulsion banks
        for(int bnk=0;bnk<NumberOfBanks+1;bnk++) 
        {
            if(bnk==0) printf("\nTable:",Bank[bnk].Number);
            else printf("\nBank #%d content:",Bank[bnk].Number);
            if(Bank[bnk].NEmulsions==0 && Bank[bnk].NSeparators==0) printf(" Empty.\n\n");
            else printf("\n\n");
 
            for(int i=0;i<Bank[bnk].NEmulsions+Bank[bnk].NSeparators;i++)  
            {
                if(Bank[bnk].Plates[i]->IsSeparator) printf("---Separator---\n");
                else printf("Emulsion %d %d %d %d\n",Bank[bnk].Plates[i]->id.Part[0],
                    Bank[bnk].Plates[i]->id.Part[1],
                    Bank[bnk].Plates[i]->id.Part[2],
                    Bank[bnk].Plates[i]->id.Part[3]);
            }
        }
 
 
}

ReadStatusFile()

int AcqPlateChanger::ReadStatusFile

(

)

UpdateBanksView();

{
    //restores the banks content from the status file
  char line[128];
  char key[32];
  int I,bnk,seps,plts,a,b,c,d,ip;
  FILE *fp=fopen("c:\\ChangerStatus.txt","r");
  if(fp==NULL) return 0;
  if(fgets(line,128,fp)==NULL) return 0; //date/time line is gisregarded
  ResetBanks();
  
  while(fgets(line,128,fp)!=NULL){
      sscanf(line,"%s %d",key,&I);
      if(strcmp(key,"Bank")==0)  bnk=I; 
      if(strcmp(key,"SEPARATORS")==0) seps=I;
      if(strcmp(key,"PLATES")==0) plts=I;
      if(strcmp(key,"PLATE")==0){
        sscanf(line,"%s %d %d %d %d",key,&a,&b,&c,&d);
        ip=Bank[bnk].NEmulsions+Bank[bnk].NSeparators;
        Bank[bnk].Plates[ip]=new TPlate; //add plate
        Bank[bnk].Plates[ip]->SeqNumber=ip;
        Bank[bnk].Plates[ip]->InBank=bnk;
        Bank[bnk].Plates[ip]->IsSeparator=false;
        Bank[bnk].Plates[ip]->id.Part[0]=a;
        Bank[bnk].Plates[ip]->id.Part[1]=b;
        Bank[bnk].Plates[ip]->id.Part[2]=c;
        Bank[bnk].Plates[ip]->id.Part[3]=d;
        Bank[bnk].NEmulsions++;
      }
      if(strcmp(key,"SEPARATOR")==0){
        ip=Bank[bnk].NEmulsions+Bank[bnk].NSeparators;
        Bank[bnk].Plates[ip]=new TPlate; //add separator
        Bank[bnk].Plates[ip]->SeqNumber=ip;
        Bank[bnk].Plates[ip]->InBank=bnk;
        Bank[bnk].Plates[ip]->IsSeparator=true;
        Bank[bnk].Plates[ip]->id.Part[0]=0;
        Bank[bnk].Plates[ip]->id.Part[1]=0;
        Bank[bnk].Plates[ip]->id.Part[2]=0;
        Bank[bnk].Plates[ip]->id.Part[3]=0;
        Bank[bnk].NSeparators++;
      }
      if(strcmp(key,"EndBank")==0){ 
          if((bnk!=I) || (Bank[bnk].NSeparators!=seps) || (Bank[bnk].NEmulsions!=plts))
          {
              printf("Plate Changer Error: ChangerStatus.txt file is corrupted!!! Resetting banks.\n");
              ResetBanks();
              return 0;
          }
      }
 
  }
  fclose(fp);
  EmulsionOnTable=Bank[0].Plates[0];
  Ready=true;
  UpdateStatusFile();
  return 1;
}

ResetBanks()

void AcqPlateChanger::ResetBanks

(

)

{
    //resets the banks content
    if(EmulsionOnTable) delete EmulsionOnTable;
    EmulsionOnTable=NULL;
    for(int i=0;i<NumberOfBanks+1;i++) {
        Bank[i].Number=i; //0- microscope, 1-3 banks 
        Bank[i].NEmulsions=0; //not known how many plates it contains
        Bank[i].NSeparators=0; 
        for(int j=0;j<MAX_NUMBER_OF_PLATES*2;j++) {if(Bank[i].Plates[j]) delete Bank[i].Plates[j]; Bank[i].Plates[j]=NULL; }
    }
    Ready=false;
//UpdateStatusFile();
}

TableVacuumControl()

int AcqPlateChanger::TableVacuumControl	(	bool	VacOn,
		int	timeout
	)

{
    // Switches the vacuum on/off at the table, if vacuum is not reached within given timeout returns -timeout,
    // otherwise returns actual time spent to reach vacuum
    int32 tme=0;
    int32 read;
    int32 bytesPerSamp;
    uInt8 datain[8];
    uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
    //Read whatever is set on Output Port Z
    DAQmxReadDigitalLines (writehandlez, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    // Toggle Vacuum valve bit (Bit7 on Z )
    if(VacOn) dataout[7]=1; else dataout[7]=0;
    //Write back to port
    DAQmxWriteDigitalLines (writehandlez, 1, 1, 10.0, DAQmx_Val_GroupByChannel , dataout, &read, NULL);
    DAQmxWaitUntilTaskDone (writehandlez, 10.0);
    DAQmxStopTask (writehandlez);
    gSystem->Sleep(100);    
    //Wait for vacuum sensor (Bit 7)
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
    while(datain[7]==0 && tme<timeout)
    {
    DAQmxReadDigitalLines (readhandlez, 1, 10.0, DAQmx_Val_GroupByChannel , datain, 8, &read, &bytesPerSamp, NULL);
    DAQmxWaitUntilTaskDone (readhandlez, 10.0);
    DAQmxStopTask (readhandlez);
      gSystem->Sleep(100);tme++;
    }
    if(tme>=timeout)
    {
        return -tme;
    }
    return tme;
 
 
}

TakeFromBank()

TPlate * AcqPlateChanger::TakeFromBank

(

int

bnk

)

{
    // takes info on plate from the container (nothing is done physically)
    // to keep track of real world situation
 TPlate* retvalue;
 if(Bank[bnk].NEmulsions+Bank[bnk].NSeparators<=0) return NULL;
 retvalue=Bank[bnk].Plates[0];
     for(int i=0;i<Bank[bnk].NEmulsions+Bank[bnk].NSeparators-1;i++) {
        Bank[bnk].Plates[i]=Bank[bnk].Plates[i+1];
 
    }
 if(retvalue->IsSeparator) Bank[bnk].NSeparators--;
 else Bank[bnk].NEmulsions--;
 //if(bnk==0) EmulsionOnTable=NULL;
 UpdateStatusFile();
 retvalue->InBank=-1; //unknown
 return retvalue;
}

UnloadBrick()

void AcqPlateChanger::UnloadBrick

(

)

{
    // Moves all emulsions and separators back to
    // the source bank to allow user to withdraw the brick.
    // Doesnt' reset banks!!!! Make sure to execute LoadBrick if you change the brick!
    UnloadPlate(false);
    printf("Moving emulsions from bank %d back to %d..",DestinationBank,SourceBank); fflush(stdout);
    while( (Bank[DestinationBank].NEmulsions + Bank[DestinationBank].NSeparators) > 0 )
    {
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return; else printf(" Continue.\n");}
        if(MoveEmulsion(DestinationBank,SourceBank)!=1) { printf("MoveEmulsion returned FAILED!\n"); Park(DestinationBank); return;};
        AddToBank(SourceBank,TakeFromBank(DestinationBank));
    }
    Park(DestinationBank);
    printf("Done. \nPlease take the brick from the bank %d\n", SourceBank);
}

UnloadPlate()

int AcqPlateChanger::UnloadPlate

(

bool

TurnPowerOff = true

)

{
    // Unloads the plate from the stage to the source bank
    // returns 1 if OK, 
    // 0 in case of error.
    PowerON();
printf("Unload plate is in progress...\n");
    int isrc,idest;
 EmulsionOnTable=TakeFromBank(0);
 if(!EmulsionOnTable) return 1;
    isrc=SourceBank;
    idest=DestinationBank;
    if(isrc<1 || isrc>3 || idest<1 || idest>3 || isrc==idest) {
        printf("Wrong bank assignements!\n");
        printf("Unload Plate is failed.\n");
        return 0;
    }
//All is ok, now move plate to src bank
    int res;
    if(ST){ //Move stage to exchange position
    ST->Z->PosMove(ZLoadPosition,1e9,1e9); 
    ST->X->PosMove(XLoadPosition,1e9,1e9); 
    ST->Y->PosMove(YLoadPosition,1e9,1e9);
    res=ST->X->WaitForMoveComplete(5e3);
    res*=ST->Y->WaitForMoveComplete(5e3);
    res*=ST->Z->WaitForMoveComplete(3e3);
    if(res==0) {printf("Stage didn't reach exchange position! Unload Plate is failed. \n"); return 0; }
    }
    AddToBank(isrc,EmulsionOnTable);
    EmulsionOnTable=NULL;
 
    if(MoveEmulsion(0,isrc)!=1) {   printf("Unload Plate is failed. "); Park(idest);  return 0;};
 
printf("Unload Plate is complete.\n");
UpdateStatusFile();
if(TurnPowerOff)PowerOFF();
return 1;
 
}

UpdateStatusFile()

void AcqPlateChanger::UpdateStatusFile

(

)

{
    // Syncronizes the status file with the current banks content
         char dateStr [9];
          char timeStr [9];
          _strdate( dateStr);
         _strtime( timeStr );
         FILE *fp=fopen("c:\\ChangerStatus.txt","w");
  FILE *fpl=fopen("c:\\ChangerLog.txt","a");
  fprintf(fp,"Plate Changer Status on %s at %s.\n",dateStr,timeStr);
  fprintf(fpl,"Plate Changer Status on %s at %s.\n",dateStr,timeStr);
  for(int bnk=0;bnk<NumberOfBanks+1;bnk++){
    fprintf(fp,"Bank %d\n",bnk);
    fprintf(fpl,"Bank %d\n",bnk);
    fprintf(fp,"SEPARATORS %d\n",Bank[bnk].NSeparators);
    fprintf(fpl,"SEPARATORS %d\n",Bank[bnk].NSeparators);
    fprintf(fp,"PLATES %d\n",Bank[bnk].NEmulsions);
    fprintf(fpl,"PLATES %d\n",Bank[bnk].NEmulsions);
    for(int i=0;i<Bank[bnk].NEmulsions+Bank[bnk].NSeparators;i++) 
        if(Bank[bnk].Plates[i]->IsSeparator){ fprintf(fp,"SEPARATOR\n");fprintf(fpl,"SEPARATOR\n");}
        else {
            fprintf(fp,"PLATE %d %d %d %d\n",Bank[bnk].Plates[i]->id.Part[0],Bank[bnk].Plates[i]->id.Part[1],Bank[bnk].Plates[i]->id.Part[2],Bank[bnk].Plates[i]->id.Part[3]);
            fprintf(fpl,"PLATE %d %d %d %d\n",Bank[bnk].Plates[i]->id.Part[0],Bank[bnk].Plates[i]->id.Part[1],Bank[bnk].Plates[i]->id.Part[2],Bank[bnk].Plates[i]->id.Part[3]);
        }
        fprintf(fp,"EndBank %d\n",bnk);
        fprintf(fpl,"EndBank %d\n",bnk);
   
  }
 
  fclose(fp);
  fclose(fpl);
}

Member Data Documentation

DestinationBank

int AcqPlateChanger::DestinationBank

InitDone

bool AcqPlateChanger::InitDone

LiftCorners

bool AcqPlateChanger::LiftCorners

NumberOfAttempt

int AcqPlateChanger::NumberOfAttempt

NumberOfBanks

int AcqPlateChanger::NumberOfBanks

PositionTimeout

int AcqPlateChanger::PositionTimeout

Ready

bool AcqPlateChanger::Ready

SeparationAttempts

int AcqPlateChanger::SeparationAttempts

SourceBank

int AcqPlateChanger::SourceBank

ST

AcqStage1* AcqPlateChanger::ST

StageError

bool AcqPlateChanger::StageError

StX

float AcqPlateChanger::StX

private

StY

float AcqPlateChanger::StY

private

StZ

float AcqPlateChanger::StZ

private

VacuumTimeout

int AcqPlateChanger::VacuumTimeout

XLoadPosition

float AcqPlateChanger::XLoadPosition

YLoadPosition

float AcqPlateChanger::YLoadPosition

ZLoadPosition

float AcqPlateChanger::ZLoadPosition

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The documentation for this class was generated from the following files:

• src/libACQ/AcqPlateChanger.h
• src/libACQ/AcqPlateChanger.cxx