AcqSerialPlateChanger Class Reference

#include <AcqSerialPlateChanger.h>

Inheritance diagram for AcqSerialPlateChanger:

Collaboration diagram for AcqSerialPlateChanger:

Public Member Functions
	AcqSerialPlateChanger ()
void	AddToBank (int bnk, TPlateS *plate)
int	ArmVacuumControl (bool VacOn, int timeout)
int	FindEmulsion (IdentifierS id, int Bank)
int	GetLoadedId (int *id0=NULL, int *id1=NULL, int *id2=NULL, int *id3=NULL)
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 (IdentifierS 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)
int	PowerOFF (int timeout=100)
int	PowerON (int timeout=100)
virtual void	Print ()
int	ReadStatusFile ()
void	ResetBanks ()
int	TableVacuumControl (bool VacOn, int timeout, bool BlowOn=false)
TPlateS *	TakeFromBank (int bnk)
void	UnloadBrick ()
int	UnloadPlate (bool TurnPowerOff=true)
void	UpdateStatusFile ()
virtual	~AcqSerialPlateChanger ()

Public Attributes
int	ComBaud
int	ComPort
bool	Debug
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
AcqCOM *	port
float	StX
float	StY
float	StZ
char	VacRegister

Constructor & Destructor Documentation

AcqSerialPlateChanger()

AcqSerialPlateChanger::AcqSerialPlateChanger

(

)

{
        InitDone=false;
        Ready=false;
        PositionTimeout=50;
        NumberOfBanks=3;
        VacuumTimeout=10;
        LiftCorners=false;
        NumberOfAttempt=20;
        SeparationAttempts=2;
        ST=NULL;
        XLoadPosition=-63082; 
        YLoadPosition=12485;
        ZLoadPosition=5000;
        SourceBank=1;
         DestinationBank=2;
         StageError=false;
         ComPort=1; //default COM1
         ComBaud=19200;
         VacRegister=0;
         Debug=0; // default - no debug messages produced
 
 
}

~AcqSerialPlateChanger()

AcqSerialPlateChanger::~AcqSerialPlateChanger ( )

virtual

{
    OnReset();
}

Member Function Documentation

AddToBank()

void AcqSerialPlateChanger::AddToBank	(	int	bnk,
		TPlateS *	plate
	)

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

ArmVacuumControl()

int AcqSerialPlateChanger::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
    if(Debug) printf("ArmVacuumControl(%d,%d) called.\n",VacOn,timeout);
    int tme=0;
    int res;
    char str[8];
    char rep[128];
    str[0]='V';
    if(VacOn) VacRegister= VacRegister | 0x01; else VacRegister = VacRegister & 0xFE;
    str[1]=VacRegister;
    bool Reached=false;
    if(port->SendString(str,2)!=2) return -tme;
        while( !Reached && tme<timeout)
    {
      str[0]='Q';
    if(port->SendString(str,1)!=1) return -tme;
      port->Flush();
      gSystem->Sleep(50);tme++;
      port->Flush();
      res=port->RecvString(rep,5);
if(Debug)     printf("res=0x%x rep[0]=0x%x  rep[4]=0x%x \n",res,rep[0],((unsigned)(rep[4])));
//    port->CleanAll();
      if(res==0) continue;
     // if(res==5 && rep[0]=='D' && (rep[4] & 0x01)) Reached=true;
      if(rep[0]=='D' && (rep[4] & 0x01)) Reached=true;
    }
    if(Debug) printf("ArmVacuumControl reached %d, timeout is %d. Done.\n",tme,timeout);
    if(tme>=timeout) return -tme;
    else return tme;
 
}

FindEmulsion()

int AcqSerialPlateChanger::FindEmulsion	(	IdentifierS	id,
		int	Bank
	)

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

GetLoadedId()

int AcqSerialPlateChanger::GetLoadedId	(	int *	id0 = NULL,
		int *	id1 = NULL,
		int *	id2 = NULL,
		int *	id3 = NULL
	)

{
    //returns 0 if no emulsion on the stage 
    if(!EmulsionOnTableS) return 0;
    if(id0) (*id0)=EmulsionOnTableS->id.Part[0];
    if(id1) (*id1)=EmulsionOnTableS->id.Part[1];
    if(id2) (*id2)=EmulsionOnTableS->id.Part[2];
    if(id3) (*id3)=EmulsionOnTableS->id.Part[3];
    return 1;
}

GoOnHAxis()

int AcqSerialPlateChanger::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!
 
    int tme=0;
    int res;
    char str[8];
    char rep[128];
if(Debug)   printf("GoOnHAxis(%d, %d) called.\n",position,timeout);
    str[0]='X';
    str[1]=position & 0x07;
    bool Reached=false;
    if(port->SendString(str,2)!=2) return -tme;
        while( !Reached && tme<timeout)
    {
      str[0]='Q';
    if(port->SendString(str,1)!=1) return -tme;
      port->Flush();
      gSystem->Sleep(50);tme++;
      port->Flush();
      res=port->RecvString(rep,5);
if(Debug)     printf("res=0x%x rep[0]=0x%x  rep[1]=0x%x  rep[4]=0x%x \n",res,rep[0],rep[1],((unsigned)(rep[4])));
      if(res==0) continue;
      if(rep[0]=='D' && (rep[1] & 0x40) && (rep[1] & 0x10) && !(rep[1] & 0x80) && !(rep[1] & 0x20)) Reached=true;
    }
    if(Debug) printf("GoOnHAxis reached %d, timeout is %d. Done.\n",tme,timeout);
    if(tme>=timeout) return -tme;
    else return tme;
 
 
}

GoOnVAxis()

int AcqSerialPlateChanger::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
    int tme=0;
    int res;
    char str[8];
    char rep[128];
if(Debug)   printf("GoOnVAxis(%d, %d) called.\n",position,timeout);
    str[0]='Y';
    str[1]=position & 0x07;
    bool Reached=false;
    if(port->SendString(str,2)!=2) return -tme;
        while( !Reached && tme<timeout)
    {
      str[0]='Q';
    if(port->SendString(str,1)!=1) return -tme;
      port->Flush();
      gSystem->Sleep(50);tme++;
      port->Flush();
      res=port->RecvString(rep,5);
      if(res==0) continue;
if(Debug)     printf("res=0x%x rep[0]=0x%x  rep[2]=0x%x  rep[4]=0x%x \n",res,rep[0],rep[2],((unsigned)(rep[4])));
      if(rep[0]=='D' && (rep[2] & 0x40) && (rep[2] & 0x10) && !(rep[2] & 0x80) && !(rep[2] & 0x20)) Reached=true;
    }
    if(Debug) printf("GoOnVAxis reached %d, timeout is %d. Done.\n",tme,timeout);
    if(tme>=timeout) return -tme;
    else return tme;
 
 
}

Initialize()

int AcqSerialPlateChanger::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;
    int tme=0;
    int res;
//  int32 read;
//  int32 bytesPerSamp;
//  uInt8 datain[8];
//  uInt8 dataout[8] = {0,0,0,0,0,0,0,0};
    printf("Initializing Plate changer..\n");
    port=new AcqCOM();
    port->Close();
    if(!port->Open(ComPort,ComBaud)) {printf("Can't open COM port! PlateChanger Init failed.\n"); return 0;}
    PowerON();
         res=GoOnVAxis(VPOS_UP,PositionTimeout);
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
    Park(1);
    InitDone=true;
    Ready=false;
    printf("Reading status file.."); fflush(stdout);
 
    ReadStatusFile();
 
   if(EmulsionOnTableS) TableVacuumControl(true,1);
    printf("Done!"); fflush(stdout);
    Dump();
    PowerOFF();
    return 1;
}

LoadBrick()

void AcqSerialPlateChanger::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.
if(Debug) printf(" LoadBrick(%d,%d,%d,%d,%d,%d) called.\n",Brick,Nemulsions, isrc,idest,Separators,FirstIsSeparator);
    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++){ 
//  BankS[bnk].NEmulsions=0;
//  BankS[bnk].NSeparators=0;
//  }
ResetBanks();
SourceBank=isrc;
DestinationBank=idest;
 
BankS[isrc].NEmulsions=inumem;  
if(   Separators    ) BankS[isrc].NSeparators=inumem;
if( FirstIsSeparator ) { 
    (BankS[isrc].NSeparators)++;
  BankS[isrc].Plates[0]=new TPlateS; //add sep
  BankS[isrc].Plates[0]->SeqNumber=0;
  BankS[isrc].Plates[0]->InBank=isrc;
  BankS[isrc].Plates[0]->IsSeparator=true;
  BankS[isrc].Plates[0]->id.Part[0]=ibrick;
  BankS[isrc].Plates[0]->id.Part[1]=0;
  BankS[isrc].Plates[0]->id.Part[2]=0;
  BankS[isrc].Plates[0]->id.Part[3]=0;
 
}
int Fsep;
Fsep=FirstIsSeparator?1:0;
if(   Separators   ) for(int i=0;i<inumem;i++) {
  BankS[isrc].Plates[i*2+Fsep]=new TPlateS; //add plate
  BankS[isrc].Plates[i*2+Fsep]->SeqNumber=i*2+Fsep;
  BankS[isrc].Plates[i*2+Fsep]->InBank=isrc;
  BankS[isrc].Plates[i*2+Fsep]->IsSeparator=false;
  BankS[isrc].Plates[i*2+Fsep]->id.Part[0]=ibrick;
  BankS[isrc].Plates[i*2+Fsep]->id.Part[1]=i+1;
  BankS[isrc].Plates[i*2+Fsep]->id.Part[2]=0;
  BankS[isrc].Plates[i*2+Fsep]->id.Part[3]=0;
 
  BankS[isrc].Plates[i*2+1+Fsep]=new TPlateS; //add sep
  BankS[isrc].Plates[i*2+1+Fsep]->SeqNumber=i*2+1+Fsep;
  BankS[isrc].Plates[i*2+1+Fsep]->InBank=isrc;
  BankS[isrc].Plates[i*2+1+Fsep]->IsSeparator=true;
  BankS[isrc].Plates[i*2+1+Fsep]->id.Part[0]=ibrick;
  BankS[isrc].Plates[i*2+1+Fsep]->id.Part[1]=i+1;
  BankS[isrc].Plates[i*2+1+Fsep]->id.Part[2]=0;
  BankS[isrc].Plates[i*2+1+Fsep]->id.Part[3]=0;
 
}
else for(int i=0;i<inumem;i++) {
  BankS[isrc].Plates[i]=new TPlateS; //add emulsion
  BankS[isrc].Plates[i]->SeqNumber=i;
  BankS[isrc].Plates[i]->InBank=isrc;
  BankS[isrc].Plates[i]->IsSeparator=false;
  BankS[isrc].Plates[i]->id.Part[0]=ibrick;
  BankS[isrc].Plates[i]->id.Part[1]=i+1;
  BankS[isrc].Plates[i]->id.Part[2]=0;
  BankS[isrc].Plates[i]->id.Part[3]=0;
 
}
 
 
Ready=true;
 
UpdateStatusFile();
PowerOFF();
 if(Debug) printf(" LoadBrick() done.\n");
 
}

LoadPlate() [1/2]

int AcqSerialPlateChanger::LoadPlate

(

IdentifierS

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(EmulsionOnTableS!=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;};
        EmulsionOnTableS=TakeFromBank(0);
        if(EmulsionOnTableS) { AddToBank(Mto,EmulsionOnTableS); EmulsionOnTableS=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);
    EmulsionOnTableS=TakeFromBank(Mfrom); //if movement is OK update database
    AddToBank(0,EmulsionOnTableS);
    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 AcqSerialPlateChanger::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
IdentifierS id;
id.Part[0]=id0;
id.Part[1]=id1;
id.Part[2]=id2;
id.Part[3]=id3;
return LoadPlate(id);
}

MoveEmulsion()

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

{
    // Moves one sheet from bank to bank, whatever it is : emulsion or separator
     if(Debug) printf(" --- MoveEmulsion(%d,%d)\n",isrc,idest);
    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;}
            res=ArmVacuumControl(true,VacuumTimeout);
            TableVacuumControl(false,1,true);
            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,true);
        attempt=0;
        while(attempt<NumberOfAttempt){
         attempt++;
         if((!LiftCorners) || (attempt>1)) {
        TableVacuumControl(false,1,true);
             gSystem->Sleep(100);
             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
            TableVacuumControl(false,1);
//       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
        }
        TableVacuumControl(false,1);
 
        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
    if(Debug) printf("Arm vac seems ok... trying to separate emulsions..\n");
        for(int att=0;att<SeparationAttempts;att++){
         if(Debug) printf("Attempt %d..going up..\n",att+1);
         res=GoOnVAxis(VPOS_UP,PositionTimeout); // Go UP
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
         if(Debug) printf("..going down..\n",att+1);
         res=GoOnVAxis(VPOS_DOWN_TO_STAGE,PositionTimeout); //back down
         if(res<0) {printf("Vpos is not reached in 5 seconds!\n");return 0;}
        }
        if(Debug) printf("Separation loop is complete..\n");
 
    }
    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;}
    if(Debug) printf("Ready to go to bank idest=%d\n",idest);
    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);
     if(Debug) printf(" --- MoveEmulsion is done, returns 1.\n");
 
    return 1;
 
}

OnReset()

void AcqSerialPlateChanger::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);
*/      if(Debug) printf("OnReset called\n");
        InitDone=false;
        Ready=false;
        PowerOFF(100);
        if(Debug) printf("OnReset done.\n");
}

Park()

int AcqSerialPlateChanger::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()

int AcqSerialPlateChanger::PowerOFF

(

int

timeout = 100

)

{
    // Turns arm drives power OFF.
    if(Debug) printf("PowerOFF called.\n");
 
    int tme=0;
    int res;
    char str[8];
    char rep[128];
    str[0]='V';
    VacRegister = VacRegister & 0xEF;
    str[1]=VacRegister;
    bool Reached=false;
    if(port->SendString(str,2)!=2) return -tme;
        while( !Reached && tme<timeout)
    {
      str[0]='Q';
    if(port->SendString(str,1)!=1) return -tme;
      port->Flush();
      gSystem->Sleep(50);tme++;
      port->Flush();
      res=port->RecvString(rep,5);
if(Debug)     printf("res=0x%x rep[0]=0x%x  rep[1]=0x%x \n",res,rep[0],rep[1]);
      if(res==0) continue;
      if(rep[0]=='D' && !(rep[1] & 0x08)) Reached=true;
    }
        if(Debug) printf("PowerOFF reached %d, timeout is %d. Done.\n",tme,timeout);
 
    if(tme>=timeout) return -tme;
    else return tme;
    // check 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 AcqSerialPlateChanger::PowerON

(

int

timeout = 100

)

{
    // Turns arm drives power ON.
//  StX=ST->X->GetPos();
//  StY=ST->Y->GetPos();
//  StZ=ST->Z->GetPos(); //save current stage positions
    if(Debug) printf("PowerON called\n");
    StageError=false;
    int tme=0;
    int res;
    char str[8];
    char rep[128];
    str[0]='V';
    VacRegister= VacRegister | 0x10;
    str[1]=VacRegister;
    bool Reached=false;
    if(port->SendString(str,2)!=2) return -tme;
        while( !Reached && tme<timeout)
    {
      str[0]='Q';
    if(port->SendString(str,1)!=1) return -tme;
      port->Flush();
      gSystem->Sleep(50);tme++;
      port->Flush();
      res=port->RecvString(rep,5);
if(Debug)     printf("res=0x%x rep[0]=0x%x  rep[1]=0x%x \n",res,rep[0],rep[1]);
      if(res==0) continue;
      if( rep[0]=='D' && (rep[1] & 0x08)) Reached=true;
    }
    if(Debug) printf("PowerON reached %d, timeout is %d. Done.\n",tme,timeout);
    if(tme>=timeout) return -tme;
    else return tme;
 
}

Print()

void AcqSerialPlateChanger::Print ( )

virtual

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

ReadStatusFile()

int AcqSerialPlateChanger::ReadStatusFile

(

)

UpdateBanksView();

{
    //restores the banks content from the status file
if(Debug) printf(" ReadStatusFile() called.\n");
  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=BankS[bnk].NEmulsions+BankS[bnk].NSeparators;
        BankS[bnk].Plates[ip]=new TPlateS; //add plate
        BankS[bnk].Plates[ip]->SeqNumber=ip;
        BankS[bnk].Plates[ip]->InBank=bnk;
        BankS[bnk].Plates[ip]->IsSeparator=false;
        BankS[bnk].Plates[ip]->id.Part[0]=a;
        BankS[bnk].Plates[ip]->id.Part[1]=b;
        BankS[bnk].Plates[ip]->id.Part[2]=c;
        BankS[bnk].Plates[ip]->id.Part[3]=d;
        BankS[bnk].NEmulsions++;
      }
      if(strcmp(key,"SEPARATOR")==0){
        ip=BankS[bnk].NEmulsions+BankS[bnk].NSeparators;
        BankS[bnk].Plates[ip]=new TPlateS; //add separator
        BankS[bnk].Plates[ip]->SeqNumber=ip;
        BankS[bnk].Plates[ip]->InBank=bnk;
        BankS[bnk].Plates[ip]->IsSeparator=true;
        BankS[bnk].Plates[ip]->id.Part[0]=0;
        BankS[bnk].Plates[ip]->id.Part[1]=0;
        BankS[bnk].Plates[ip]->id.Part[2]=0;
        BankS[bnk].Plates[ip]->id.Part[3]=0;
        BankS[bnk].NSeparators++;
      }
      if(strcmp(key,"EndBank")==0){ 
          if((bnk!=I) || (BankS[bnk].NSeparators!=seps) || (BankS[bnk].NEmulsions!=plts))
          {
              printf("Plate Changer Error: ChangerStatus.txt file is corrupted!!! Resetting banks.\n");
              ResetBanks();
              if(Debug) printf(" ReadStatusFile() done. returns 0.\n");
 
              return 0;
          }
      }
 
  }
  fclose(fp);
  EmulsionOnTableS=BankS[0].Plates[0];
  Ready=true;
  UpdateStatusFile();
  if(Debug) printf(" ReadStatusFile() done. returns 1.\n");
  return 1;
}

ResetBanks()

void AcqSerialPlateChanger::ResetBanks

(

)

{
    //resets the banks content
     if(Debug) printf(" ResetBanks() called.\n");
    if(EmulsionOnTableS) delete EmulsionOnTableS;
    EmulsionOnTableS=NULL;
    for(int i=0;i<NumberOfBanks+1;i++) {
        BankS[i].Number=i; //0- microscope, 1-3 banks 
        BankS[i].NEmulsions=0; //not known how many plates it contains
        BankS[i].NSeparators=0; 
        for(int j=0;j<MAX_NUMBER_OF_PLATES*2;j++) {if(BankS[i].Plates[j]) delete BankS[i].Plates[j]; BankS[i].Plates[j]=NULL; }
    }
    Ready=false;
//UpdateStatusFile();
     if(Debug) printf(" ResetBanks() done.\n");
 
}

TableVacuumControl()

int AcqSerialPlateChanger::TableVacuumControl	(	bool	VacOn,
		int	timeout,
		bool	BlowOn = false
	)

{
    // 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
    if(Debug) printf("TableVacuumControl(%d,%d,%d) called.\n",VacOn,timeout,BlowOn);
    if(VacOn) BlowOn=false;
    int tme=0;
    int res;
    char str[8];
    char rep[128];
    str[0]='V';
    if(VacOn) VacRegister= VacRegister | 0x02; else VacRegister = VacRegister & 0xFD;
    if(BlowOn) VacRegister= VacRegister | 0x04; else VacRegister = VacRegister & 0xFB;
    str[1]=VacRegister;
    bool Reached=false;
    if(port->SendString(str,2)!=2) return -tme;
        while( !Reached && tme<timeout)
    {
      str[0]='Q';
    if(port->SendString(str,1)!=1) return -tme;
      port->Flush();
      gSystem->Sleep(50);tme++;
      port->Flush();
      res=port->RecvString(rep,5);
if(Debug)     printf("res=0x%x rep[0]=0x%x  rep[4]=0x%x \n",res,rep[0],((unsigned)(rep[4])));
      if(res==0) continue;
      if(rep[0]=='D' && (rep[4] & 0x02)) Reached=true;
    }
    if(Debug) printf("TableVacuumControl reached %d, timeout is %d. Done.\n",tme,timeout);
    if(tme>=timeout) return -tme;
    else return tme;
 
 
}

TakeFromBank()

TPlateS * AcqSerialPlateChanger::TakeFromBank

(

int

bnk

)

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

UnloadBrick()

void AcqSerialPlateChanger::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!
if(Debug) printf(" UnloadBrick() called.\n");
UnloadPlate(false);
    printf("Moving emulsions from bank %d back to %d..",DestinationBank,SourceBank); fflush(stdout);
    while( (BankS[DestinationBank].NEmulsions + BankS[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 AcqSerialPlateChanger::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;
 EmulsionOnTableS=TakeFromBank(0);
 if(!EmulsionOnTableS) 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,EmulsionOnTableS);
    EmulsionOnTableS=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 AcqSerialPlateChanger::UpdateStatusFile

(

)

{
    // Syncronizes the status file with the current banks content
if(Debug) printf(" UpdateStatusFile() called.\n");
    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",BankS[bnk].NSeparators);
    fprintf(fpl,"SEPARATORS %d\n",BankS[bnk].NSeparators);
    fprintf(fp,"PLATES %d\n",BankS[bnk].NEmulsions);
    fprintf(fpl,"PLATES %d\n",BankS[bnk].NEmulsions);
    for(int i=0;i<BankS[bnk].NEmulsions+BankS[bnk].NSeparators;i++) 
        if(BankS[bnk].Plates[i]->IsSeparator){ fprintf(fp,"SEPARATOR\n");fprintf(fpl,"SEPARATOR\n");}
        else {
            fprintf(fp,"PLATE %d %d %d %d\n",BankS[bnk].Plates[i]->id.Part[0],BankS[bnk].Plates[i]->id.Part[1],BankS[bnk].Plates[i]->id.Part[2],BankS[bnk].Plates[i]->id.Part[3]);
            fprintf(fpl,"PLATE %d %d %d %d\n",BankS[bnk].Plates[i]->id.Part[0],BankS[bnk].Plates[i]->id.Part[1],BankS[bnk].Plates[i]->id.Part[2],BankS[bnk].Plates[i]->id.Part[3]);
        }
        fprintf(fp,"EndBank %d\n",bnk);
        fprintf(fpl,"EndBank %d\n",bnk);
   
  }
 
  fclose(fp);
  fclose(fpl);
  if(Debug) printf(" UpdateStatusFile() done.\n");
 
}

Member Data Documentation

ComBaud

int AcqSerialPlateChanger::ComBaud

ComPort

int AcqSerialPlateChanger::ComPort

Debug

bool AcqSerialPlateChanger::Debug

DestinationBank

int AcqSerialPlateChanger::DestinationBank

InitDone

bool AcqSerialPlateChanger::InitDone

LiftCorners

bool AcqSerialPlateChanger::LiftCorners

NumberOfAttempt

int AcqSerialPlateChanger::NumberOfAttempt

NumberOfBanks

int AcqSerialPlateChanger::NumberOfBanks

port

AcqCOM* AcqSerialPlateChanger::port

private

PositionTimeout

int AcqSerialPlateChanger::PositionTimeout

Ready

bool AcqSerialPlateChanger::Ready

SeparationAttempts

int AcqSerialPlateChanger::SeparationAttempts

SourceBank

int AcqSerialPlateChanger::SourceBank

ST

AcqStage1* AcqSerialPlateChanger::ST

StageError

bool AcqSerialPlateChanger::StageError

StX

float AcqSerialPlateChanger::StX

private

StY

float AcqSerialPlateChanger::StY

private

StZ

float AcqSerialPlateChanger::StZ

private

VacRegister

char AcqSerialPlateChanger::VacRegister

private

VacuumTimeout

int AcqSerialPlateChanger::VacuumTimeout

XLoadPosition

float AcqSerialPlateChanger::XLoadPosition

YLoadPosition

float AcqSerialPlateChanger::YLoadPosition

ZLoadPosition

float AcqSerialPlateChanger::ZLoadPosition

---

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

• /home/antonio/fedra_doxygen/src/libACQ/AcqSerialPlateChanger.h
• /home/antonio/fedra_doxygen/src/libACQ/AcqSerialPlateChanger.cxx