syringefilled.cpp

#include "syringefilled.h"

/*
//CONSTRUCTORS
SyringeFilled :: SyringeFilled() : Motor(&ISRStepper)    _exchange_throughput_uL_per_sec(0),  _exchange_volume_mL(0),  _remaining_volume_mL(0),  _push(true), id_syringe(SyringeJSON["1"])
*/

//SET METHODS
void SyringeFilled :: set_exchange_throughput_uL_per_sec(float exchange_throughput_uL_per_sec)
{
    SyringeFilledJSON["exchange_throughput_uL_per_sec"] = exchange_throughput_uL_per_sec;
}

void SyringeFilled :: set_exchange_volume_mL(float exchange_volume_mL)
{
    SyringeFilledJSON["exchange_volume_mL"] = exchange_volume_mL;
}

void SyringeFilled :: set_remaining_volume_mL(float remaining_volume_mL)
{
    SyringeFilledJSON["remaining_volume_mL"] = remaining_volume_mL;
}

void SyringeFilled :: set_push(bool push)
{
    SyringeFilledJSON["push"] = push;
}

void SyringeFilled :: set_id_syringe(Syringe* id_syringe){
    SyringeFilledJSON["id_syringe"] = id_syringe;
}

void SyringeFilled :: set_screw_thread_mm(float screw_thread_mm)
{
    SyringeFilledJSON["screw_thread_mm"] = screw_thread_mm;
}

void SyringeFilled :: set_clockwise_equals_push(bool clockwise_equals_push)
{
    SyringeFilledJSON["clockwise_equals_push"] = clockwise_equals_push;
}

void SyringeFilled :: set_emergency(bool emergency)
{
    SyringeFilledJSON["emergency"] = emergency;
}


//GET METHODS
float SyringeFilled :: get_exchange_throughput_uL_per_sec()
{
    return SyringeFilledJSON["exchange_throughput_uL_per_sec"].as<float>();
}

float SyringeFilled :: get_exchange_volume_mL()
{
    return SyringeFilledJSON["exchange_volume_mL"].as<float>();
}

float SyringeFilled :: get_remaining_volume_mL()
{
    return SyringeFilledJSON["remaining_volume_mL"].as<float>();
}

bool SyringeFilled :: get_push()
{
    return SyringeFilledJSON["push"].as<bool>();
}

Syringe* SyringeFilled :: get_id_syringe()
{
    return SyringeFilledJSON["id_syringe"].as<Syringe*>();
}

float SyringeFilled :: get_screw_thread_mm()
{
    return SyringeFilledJSON["screw_thread_mm"].as<float>();
}

bool SyringeFilled :: get_clockwise_equals_push()
{
    return SyringeFilledJSON["clockwise_equals_push"].as<float>();
}

bool SyringeFilled :: get_emergency()
{
    return SyringeFilledJSON["emergency"].as<bool>();
}


void SyringeFilled :: setupJsonSyringeFilled(float exchange_throughput_uL_per_sec, float exchange_volume_mL, float remaining_volume_mL, bool push, Syringe* id_syringe,  float screw_thread_mm, bool clockwise_equals_push)
{
    
    //ADD INITIALISATION VALUES TO THE DOC
    SyringeFilledJSON["exchange_throughput_uL_per_sec"] = exchange_throughput_uL_per_sec;
    SyringeFilledJSON["exchange_volume_mL"] = exchange_volume_mL;
    SyringeFilledJSON["remaining_volume_mL"] = remaining_volume_mL;
    SyringeFilledJSON["push"] = push;
    SyringeFilledJSON["id_syringe"] = SyringeJSON["id"];
    SyringeFilledJSON["screw_thread_mm"] = screw_thread_mm;
    SyringeFilledJSON["clockwise_equals_push"] = clockwise_equals_push;



}


//CONVERSIONS
    
float SyringeFilled::volume_to_distance(float volume_mL, Syringe* id_syringe)
/***
-Argument : Volume in mL.
-Return   : The distance to cover associated in mm.
-Action   : /
***/
{
    float volume_mm3 = 1000*volume_mL; //mL->mm3

    float piston_surface_mm2 = id_syringe->get_internal_diameter_mm();

    float distance_mm = volume_mm3/piston_surface_mm2;

    return distance_mm;
}

float SyringeFilled::distance_to_volume(float distance_mm, Syringe* id_syringe)
/***
-Argument : distance in mm.
-Return   : The volume associated in mL.
-Action   : /
***/
{
    float piston_surface_mm2 = id_syringe->get_internal_diameter_mm();

    float volume_mm3 = distance_mm*piston_surface_mm2;

    return volume_mm3;
}


//MOVEMENTS

float SyringeFilled :: move()
/***
-Argument : / (We're using informations stored in the class itself)
-Return   : /
-Action   : Move the syringe filled to deliver or recover the volume expected
***/
{
    //Conversions of volumes
    float remaining_volume_mm3 = get_remaining_volume_mL()*1000;
    float exchange_volume_mm3 = get_exchange_volume_mL()*1000;

    //Find the section
    float radius = get_id_syringe()->get_internal_diameter_mm();
    float section_mm2 = M_PI*radius*radius;


    setSpeedMmPerSec(get_exchange_throughput_uL_per_sec()/section_mm2);


    if (whereStep() == 0) //If we are putting the syringe for the first time
    {
        moveToMm(syringe_pump_length_mm - remaining_volume_mm3/section_mm2);
    }
    else 
    {
        float initial_position_mm = syringe_pump_length_mm - remaining_volume_mm3/section_mm2;
        
        if (get_push()) //If we want to deliver some liquid
        {
            moveToMm(initial_position_mm + exchange_volume_mm3/section_mm2);
        }
        else //If we want to recover some liquid
        {
            moveToMm(initial_position_mm - exchange_volume_mm3/section_mm2);
        }
        }

}


void SyringeFilled :: go_to_zero()
/***
-Argument : / (We're using informations stored in the class itself)
-Return   : /
-Action   : Move the syringe filled to deliver or recover the volume expected
***/
{
    if (get_emergency())
        return;
    else
    {
    resetPosition();
    moveToMm(-syringe_pump_length_mm);
    }

}


//LIMIT SWITCH

void SyringeFilled::manage_emergency (bool pressed, bool at_zero)
/***
-Argument : two boolean to know the position of the limit switch and if we are a the zero
-Return   : /
-Action   : Manage different emergency cases (move the pump if necessary)
***/
{
    if (pressed)  //if the limit switch is pressed
    {
        set_emergency(true);
        if (at_zero) //if we are at te initialisation place
        {
            run_from_emergency()
        }
        else
        {
            Serial.printf("EMERGENCY: Pressed by someone\n");
        }

    }
    else
    {
        set_emergency(false);
        Serial.printf("EMERGENCY: released\n");
        stayHere();
        resetPosition();  //zero is here again
        Serial.printf("ZERO: reset\n");
    }
}


void SyringeFilled::run_from_emergency()
/***
-Argument : /
-Return   : /
-Action   : Move the pump slowly until the limit switch is released
***/
{
if (get_emergency())
    {
        Serial.printf("EMERGENCY: running away slowly\n");
        setSpeedMmPerSec(-1);
        resetPosition();
        moveToMm(syringe_pump_length_mm);
    }

}