From 71299291d4251b311f26071622befe00d2aed4c6 Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Fri, 30 Jun 2023 13:53:24 +0200
Subject: [PATCH] Complete modification of the syringe class with basic
functions (setters and getters) throough a Json document
---
syringe.cpp | 416 +++-------------------------------------------------
1 file changed, 23 insertions(+), 393 deletions(-)
diff --git a/syringe.cpp b/syringe.cpp
index 4cba6ce..177f29c 100644
--- a/syringe.cpp
+++ b/syringe.cpp
@@ -1,434 +1,64 @@
+
#include <math.h>
#include "syringe.h"
-void Syringe::showConfiguration (const Syringe_configuration_t& conf)
-/***
--Argument : Address of configuration to show
--Return : /
--Action : Displays syringe attributes
-***/
-{
- Motor::showConfiguration();
-
- auto step = whereStep();
- Serial.printf("# push clockwise: %s"
- "# diameter: %g mm\n"
- "# capacity: %g uL\n"
- "# rate: %g uL/s = %g mm/s\n"
- "# volume: %g uL (target)\n"
- "# direction: %s\n"
- "# zeroing: %d\n"
- "# emergency: %d\n"
- "# current position: %g mm %g ul %d steps\n",
- getPushClockwise()? "yes": "no",
- conf.diameter_mm,
- conf.capacity_ul,
- conf.rate_ul_per_s,
- mm3ToMm(conf.rate_ul_per_s),
- conf.volume_value * conf.volume_unit_ul,
- conf.direction > 0? "infuse": "withdraw",
- emergency(),
- stepToMm(step), mmToMm3(stepToMm(step)), step); //Current position of syringe pump in terms of displacement, volume and motor pitch
-}
-float Syringe::confToMm3 () const
-/***
--Argument : /
--Return : Total syringe volume in mm3
--Action : /
-***/
+//SET METHODES
+void Syringe :: set_total_volume_mL(float total_volume_mL)
{
- return current_configuration.direction * current_configuration.volume_value * current_configuration.volume_unit_ul;
+ SyringeJSON["total_volume_mL"] = total_volume_mL;
}
-float Syringe::sectionMm2 () const
-/***
--Argument : /
--Return : The cross-sectional area of the syringe plunger in mm2.
--Action : /
-***/
+void Syringe :: set_internal_diameter_mm(float internal_diameter_mm)
{
- return pow(current_configuration.diameter_mm / 2, 2) * M_PI;
+ SyringeJSON["internal_diameter_mm"] = internal_diameter_mm;
}
-float Syringe::mm3ToMm (float mm3) const
-/***
--Argument : Volume to be delivered in mm3.
--Return : Distance to be covered (=volume divided by piston cross-section) in mm
--Action : /
-***/
-{
- return mm3 / sectionMm2();
+void Syringe :: set_id(int id){
+ SyringeJSON["id"] = id;
}
-float Syringe::mmToMm3 (float mm) const
-{
-/***
--Argument : Distance in mm
--Return : Syringe volume given distance covered
--Action : /
-***/
- return mm * sectionMm2();
-}
-float Syringe::confToMm () const
-/***
--Argument : /
--Return : Total syringe length in mm
--Action : /
-***/
-{
- return mm3ToMm(confToMm3());
-}
-void Syringe::fill ()
-/***
--Argument : /
--Return : /
--Action : Move the syringe forward
-***/
+//GET METHODES
+float Syringe :: get_total_volume_mL()
{
- Serial.printf("# set speed to %g mm/s\n", mm3ToMm(current_configuration.rate_ul_per_s));
- setSpeedMmPerSec(mm3ToMm(current_configuration.rate_ul_per_s));
- moveToMm(confToMm());
+ return SyringeJSON["total_volume_mL"].as<float>();
}
-
-bool Syringe::configureSyringe(const Syringe_configuration_t& config)
-/***
--Argument : Address to syringe configuration
--Return : A Boolean indicating whether the syringe configuration is correct
--Action : /
-***/
+float Syringe :: get_internal_diameter_mm()
{
- if (config.diameter_mm <= 0)
- return false;
-
- if (config.volume_value < 0)
- return false;
-
- if (config.volume_unit_ul <= 0)
- return false;
-
- if (config.rate_ul_per_s <= 0)
- return false;
-
- if (config.direction != 1 && config.direction != -1)
- return false;
-
- this->current_configuration = config;
-
- this->piston_surface = M_PI * pow(config.diameter_mm,2) / 4.;
- this->is_configured = true;
-
- return true;
+ return SyringeJSON["internal_diameter_mm"].as<float>();
}
-void Syringe::findZero (float mmPerSec, float maxCourseMm)
-/***
--Argument : Optional, otherwise two numbers for setting travel speed and maximum syringe pump length
--Return : /
--Action : Set syringe pump to position 0
-***/
+int Syringe :: get_id()
{
- if (emergency())
- return;
- if (mmPerSec > 0)
- setSpeedMmPerSec(mmPerSec);
- else
- setSpeedMmPerSec(mm3ToMm(current_configuration.rate_ul_per_s));
- resetPosition();
- moveToMm(-maxCourseMm);
+ return SyringeJSON["id"].as<float>();
}
-void Syringe::runFromEmergency (float mmPerSec, float maxCourseMm)
-/***
--Argument : Optional, otherwise two numbers for setting travel speed and maximum syringe pump length
--Return : /
--Action : move the pump sloowly until the limit switch is released
-***/
-{
- if (emergency())
- {
- Serial.printf("EMERGENCY: running away slowly\n");
- setSpeedMmPerSec(mmPerSec);
- resetPosition();
- moveToMm(maxCourseMm);
- }
-}
-void Syringe::resetPosition ()
-/***
--Argument : /
--Return : /
--Action : Changes the zero position as the current one
-***/
-{
- Motor::resetPosition();
-}
-void Syringe::manageEmergency (bool pressed, bool stepperMoving)
-/***
--Argument : two boolean to know the position of the limit switch and if the stepper is moving
--Return : /
--Action : Manage different emergency cases (move the pump if necessary)
-***/
+void Syringe :: setupJsonSyringe( float total_volume_mL, float internal_diameter_mm, int id)
{
- if (pressed) //if the limit switch is pressed
- {
- setEmergency(); //we're entering a state of emergency
- if (stepperMoving)
- {
- Serial.printf("EMERGENCY\n");
- runFromEmergency();
- }
- else
- {
- Serial.printf("EMERGENCY: Pressed by someone\n");
- }
-
- }
- else
- {
- Serial.printf("EMERGENCY: released\n");
- setEmergency(false);
- stayHere();
- resetPosition(); //zero is here again
- Serial.printf("ZERO: reset\n");
- }
-}
-
-
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+
+ //ADD INITIALISATION VALUES TO THE DOC
+ SyringeJSON["total_volume_mL"] = total_volume_mL;
+ SyringeJSON["internal_diameter_mm"] = internal_diameter_mm;
+ SyringeJSON["id"] = id;
+ //GENERATE THE MINIFIED JSON AND SEND IT TO THE SERIAL PORT
+ serializeJson(SyringeJSON, Serial);
-
-
-
-
-
-
-
-
-
-
-#if 0
-float Syringe::volumeToDistance(float volume)
-/***
--Argument : Volume in mL
--Return : The distance to cover associated
--Action : /
-***/
-{
- // Volume is in mL => convert to mm³
- float volume_in_mm3 = 1000*volume;
-
- // Distance to travel is in mm => use syringe piston surface in mm²
- float distance = volume_in_mm3/this->piston_surface;
-
- return distance;
-}
-#endif
-
-#if 0
-void Syringe::setInitialContent(float initial_volume)
-/***
--Argument : Initial volume in the syringe
--Return : /
--Action : Initializes the initial volume contained in the syringe to the given volume
-***/
-{
- this->remaining_volume = initial_volume;
-}
-
-
-/**********************fonction qui rassemble les fonctions push et pull de la fin non ?*********************/
-void Syringe::moveMotor(bool direction, float duration, float speed)
-/***
--Argument : The direction, duration and speed of the desired movement
--Return : /
--Action : /
-***/
-{
- float quantity = speed*this->piston_surface*duration; //Volume delivered in mm3
- if (direction == true) //If you deliver a quantity
- {
- if (quantity <= this->remaining_volume) //Check that there's enough cash left for the request
- {
- this->remaining_volume -= quantity; //Update the remaining volume
- }
- else
- {
- quantity = this->remaining_volume; // Otherwise, we deliver all the remaining liquid
- this->remaining_volume = 0;
- }
- }
- else // If we are retrieving liquid
- {
- if (this->remaining_volume + quantity <= this->current_configuration.capacity_ul) // We check if there is enough space in the syringe
- {
- this->remaining_volume += quantity; // We update the remaining volume (adding what we retrieved)
- }
- else
- {
- quantity = this->current_configuration.capacity_ul - this->remaining_volume; // Otherwise, we retrieve all the liquid we can store
- this->remaining_volume = this->current_configuration.capacity_ul;
- }
- }
-
- // TODO: recompute duration to match quantity before sending the command to the motor
- motor.turn(direction, duration, speed);
- }
-
-
-void Syringe::reset()
-/***
--Argument : /
--Return : /
--Action : Resets syringe pump to initial position (not zero, but the position before starting to deliver/retrieve liquid)
-***/
-{
- float speed = 100; // Default to 10 cm/min
- this->pull(this->current_configuration.capacity_ul, speed);
}
-/***PUSH***/
-void Syringe::push(float volume, float throughput)
-/***
--Argument : Volume in mL, throughput in µL/min
--Return : /
--Action : Push the volume requested with the throughput imposed (duration is deduced)
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
- this->pushFor(volume/throughput, throughput);
-}
-
-void Syringe::pushAll(float throughput)
-/***
--Argument : Throughput in µL/min
--Return : /
--Action : Push all the liquid the syringe contains with the throughput imposed
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
-
- this->push(this->current_configuration.capacity_ul, throughput);
-}
-
-void Syringe::pushFor(float duration, float throughput)
-/***
--Argument : Duration in min, throughput in µL/min
--Return : /
--Action : Push for the duration requested with the throughput imposed (volume is deduced)
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
-
- float volume = throughput*duration;
- float distance = this->volumeToDistance(volume);
- float speed = distance/duration;
-
- this->moveMotor(true, duration, speed);
-}
-
-void Syringe::pushVol(float volume, float duration)
-/***
--Argument : Volume in mL, duration in min
--Return : /
--Action : Push the volume requested in the duration imposed (throughput is deduced)
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
-
- float throughput = volume/duration;
- this->push(volume, throughput);
-}
-
-
-
-/***PULL***/
-void Syringe::pull(float volume, float throughput)
-/***
--Argument : Volume in mL, throughput in µL/min
--Return : /
--Action : Pull the amount of volume with the thoughput requested (duration is deduced)
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
- // Volume in mL, throughput in µL/min, duration in min
- this->pullFor(volume/throughput, throughput);
-}
-void Syringe::pullAll(float throughput)
-/***
--Argument : Throughput in µL/min
--Return : /
--Action : Pull all the liquid it can contains in
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
- float volume = throughput*duration; //***********************************************************************************Where is duration specified ?
- float distance = this->volumeToDistance(volume);
- float speed = distance/duration;
- this->moveMotor(false, duration, speed);
-}
-void Syringe::pullVol(float volume, float duration)
-/***
--Argument : Volume in mL, duration in min
--Return : /
--Action : Pull the volume requested in the duration imposed (throughput is deduced)
-***/
-{
- // Ensure syringe is configured before using it
- if (this->is_configured == false)
- return;
- float throughput = volume/duration;
- this->pull(volume, throughput);
-}
-#endif
--
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