syringefilled.cpp

#include "syringefilled.h"


ISRStepper stepper(AccelStepper::DRIVER, STEP, DIR);

SyringeFilled syringe_filled(stepper);



//CONSTRUCTORS
SyringeFilled :: SyringeFilled (MotorHardware_t& stepper): Motor(stepper)
{
    set_exchange_throughput_uL_per_sec(1);
    set_exchange_volume_mL(1);
    set_remaining_volume_mL(1);
    set_push(true);
    set_name_syringe("BD_10mL");
    set_clockwise_equals_push(true);
    set_lead_screw_pitch_mm(0.7);
    set_syringe_pump_length_mm(50);
    set_microstep_configuration(16);
    set_motor_steps(200);
    set_emergency(false);

}


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

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

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

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

void SyringeFilled :: set_name_syringe(String name_syringe)
{
    syringe_filled_json["name_syringe"] = name_syringe;
}

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

void SyringeFilled :: set_syringe_pump_length_mm(float syringe_pump_length_mm)
{
    syringe_filled_json["syringe_pump_length_mm"] = syringe_pump_length_mm;
}

void SyringeFilled :: set_lead_screw_pitch_mm(float lead_screw_pitch_mm)
{
    syringe_filled_json["lead_screw_pitch_mm"] = lead_screw_pitch_mm;
}

void SyringeFilled :: set_microstep_configuration(int microstep_configuration)
{
    syringe_filled_json["microstep_configuration"] = microstep_configuration;
}

void SyringeFilled :: set_motor_steps(int motor_steps)
{
    syringe_filled_json["motor_steps"] = motor_steps;
}

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


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

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

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

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

String SyringeFilled :: get_name_syringe()
{
    return syringe_filled_json["name_syringe"].as<String>();
}

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

float SyringeFilled :: get_syringe_pump_length_mm()
{
    return syringe_filled_json["syringe_pump_length_mm"].as<float>();
}

float SyringeFilled :: get_lead_screw_pitch_mm()
{
    return syringe_filled_json["lead_screw_pitch_mm"].as<float>();
}

int SyringeFilled :: get_microstep_configuration()
{
    return syringe_filled_json["microstep_configuration"].as<int>();
}

int SyringeFilled :: get_motor_steps()
{
    return syringe_filled_json["motor_steps"].as<int>();
}

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

const StaticJsonDocument<200>& SyringeFilled :: get_syringe_filled_data()
{
    return syringe_filled_json;
}

//CONVERSIONS
StaticJsonDocument<200> syringe_filled_json;  //200 = RAM allocated to this document

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

    float piston_radius_mm = (syringe.get_syringe_database()[syringe_filled_json[syringe_filled.get_name_syringe()]]["internal_diameter"]).as<int>()/2;

    float piston_surface_mm2 = M_PI * piston_radius_mm * piston_radius_mm;

    float distance_mm = volume_mm3 / piston_surface_mm2;

    return distance_mm;
}

float SyringeFilled::distance_mm_to_volume_mL(float distance_mm)
/***
-Argument : distance in mm.
-Return   : The volume associated in mL.
-Action   : /
***/
{
    float piston_radius_mm = (syringe.get_syringe_database()[syringe_filled_json[syringe_filled.get_name_syringe()]]["internal_diameter"]).as<int>()/2;

    float piston_surface_mm2 = M_PI * piston_radius_mm * piston_radius_mm;

    float volume_mm3 = distance_mm * piston_surface_mm2;

    float volume_mL = volume_mm3 / 1000;

    return volume_mL;
}


//MOVEMENTS

bool SyringeFilled :: is_running ()  //return true if the motor is currently running
/***
-Argument : /
-Return   : A boolean to indicates if the motor is running.
-Action   : /
***/
{
    return motor_is_running();
}

void SyringeFilled :: start_exchange()
/***
-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 exchange_volume_mm3 = get_exchange_volume_mL()*1000;

    //Find the section
    float radius = syringe.get_syringe_database()[syringe_filled_json["name_syringe"]]["internal_diameter_mm"];
    float section_mm2 = M_PI*radius*radius;


    set_speed_mm_per_sec(get_exchange_throughput_uL_per_sec()/section_mm2);

    
    if (get_push()) //If we want to deliver some liquid
    {
        move_mm_limit_switch(_clockwise_equals_push? exchange_volume_mm3/section_mm2: -exchange_volume_mm3/section_mm2);
    }
    else //If we want to recover some liquid
    {
        move_to_mm_limit_switch(_clockwise_equals_push? -exchange_volume_mm3/section_mm2: 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
    {
    set_speed_mm_per_sec(-1);
    reset_position();
    move_to_mm_limit_switch(_clockwise_equals_push? -200: 200);
    }

}


//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);
        write_Json();
        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);
        write_Json();
        Serial.printf("EMERGENCY: released\n");
        stop();
        reset_position();  //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");
        set_speed_mm_per_sec(-1);
        reset_position();
        move_to_mm_limit_switch(_clockwise_equals_push? 200: -200);
    }

}

//CONFIGURATION

bool SyringeFilled :: check_configuration()
/***
-Argument : /
-Return   : A boolean true(everything is fine), false(at least one attribut is'nt correct)
-Action   : Check if the values are correct.
***/
{
    if (syringe.get_syringe_database()[syringe_filled_json["name_syringe"]]["internal_diameter"] <= 0)
        return false;

    if (get_exchange_volume_mL() < 0)
        return false;

    if (get_remaining_volume_mL() <= 0)
        return false;

    if (get_exchange_throughput_uL_per_sec() <= 0)
        return false;


    return true;
}

void SyringeFilled :: show_configuration()
/***
-Argument : /
-Return   : /
-Action   : Displays syringe filled attributes
***/
{
    //Motor::show_configuration();

    auto step = where_step();

    Serial.printf("#     push clockwise: %s\n"
                  //"#     diameter: %g mm\n"
                  //"#     capacity: %g uL\n"
                  "#     rate: %g uL/s = %g mm/s\n"
                  "#     volume remaining: %g uL (target)\n"
                  "#     direction: %s\n"
                  "#     emergency: %d\n"
                  "#     current position: %g mm\n",
                  get_clockwise_equals_push()? "yes": "no",
                  //syringe.get_syringe_database()[syringe_filled_json["name_syringe"]]["internal_diameter"],
                  //syringe.get_syringe_database()[syringe_filled_json["name_syringe"]]["total_volume_mL"],
                  get_exchange_throughput_uL_per_sec(),
                  volume_mL_to_distance_mm(get_exchange_throughput_uL_per_sec()),
                  get_remaining_volume_mL(),
                  get_push()? "infuse": "withdraw",
                  get_emergency(),
                  step_to_mm(step));
}


//JSON

//Example : File f = ({ InterruptLock lock; filesystem->open(filename, "w"); }); and the f becomes the argument input_stream
//useful in web.cpp via a button to save data
void SyringeFilled :: write_Json ()
/***
-Argument : input_stream (= serial or a file)
-Return   : /
-Action   : Save the Json structure in a file (convert it to text)
***/
{
InterruptLock lock; //useful thanks to its constructor (so a is not visible in the code)
File f = filesystem->open("syringe_filled_json", "w"); //Creation du fichier
size_t a = serializeJson(syringe_filled_json, f);
Serial.println("Taille de syringe_filled_json");
Serial.println(a);
f.close();
}

//useful in setup of pousse-seringue.cpp(to check at the begining what has already been saved) and web.cpp via a button to recover data
void SyringeFilled :: read_Json ()
/***
-Argument : output_stream (= serial or a file)
-Return   : /
-Action   : Check if a Json Document alredy exist or not, if it does it is load
***/
{
InterruptLock lock; //useful thanks to its constructor (so a is not visible in the code)
File f = filesystem->open("syringe_filled_json", "r"); //Creation du fichier
deserializeJson(syringe_filled_json, f);

}