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Commit 71299291 authored by Malaurie Bernard's avatar Malaurie Bernard
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Complete modification of the syringe class with basic functions (setters and... 

Complete modification of the syringe class with basic functions (setters and getters) throough a Json document
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1 merge request!17Malaurie's work on UI + CLI interface + AccelStepper interface
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syringe.cpp
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#include <math.h> #include <math.h>
#include "syringe.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 //SET METHODES
/*** void Syringe :: set_total_volume_mL(float total_volume_mL)
-Argument : /
-Return : Total syringe volume in mm3
-Action : /
***/
{ {
return current_configuration.direction * current_configuration.volume_value * current_configuration.volume_unit_ul; SyringeJSON["total_volume_mL"] = total_volume_mL;
} }
float Syringe::sectionMm2 () const void Syringe :: set_internal_diameter_mm(float internal_diameter_mm)
/***
-Argument : /
-Return : The cross-sectional area of the syringe plunger in mm2.
-Action : /
***/
{ {
return pow(current_configuration.diameter_mm / 2, 2) * M_PI; SyringeJSON["internal_diameter_mm"] = internal_diameter_mm;
} }
float Syringe::mm3ToMm (float mm3) const void Syringe :: set_id(int id){
/*** SyringeJSON["id"] = id;
-Argument : Volume to be delivered in mm3.
-Return : Distance to be covered (=volume divided by piston cross-section) in mm
-Action : /
***/
{
return mm3 / sectionMm2();
} }
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 () //GET METHODES
/*** float Syringe :: get_total_volume_mL()
-Argument : /
-Return : /
-Action : Move the syringe forward
***/
{ {
Serial.printf("# set speed to %g mm/s\n", mm3ToMm(current_configuration.rate_ul_per_s)); return SyringeJSON["total_volume_mL"].as<float>();
setSpeedMmPerSec(mm3ToMm(current_configuration.rate_ul_per_s));
moveToMm(confToMm());
} }
float Syringe :: get_internal_diameter_mm()
bool Syringe::configureSyringe(const Syringe_configuration_t& config)
/***
-Argument : Address to syringe configuration
-Return : A Boolean indicating whether the syringe configuration is correct
-Action : /
***/
{ {
if (config.diameter_mm <= 0) return SyringeJSON["internal_diameter_mm"].as<float>();
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;
} }
void Syringe::findZero (float mmPerSec, float maxCourseMm) int Syringe :: get_id()
/***
-Argument : Optional, otherwise two numbers for setting travel speed and maximum syringe pump length
-Return : /
-Action : Set syringe pump to position 0
***/
{ {
if (emergency()) return SyringeJSON["id"].as<float>();
return;
if (mmPerSec > 0)
setSpeedMmPerSec(mmPerSec);
else
setSpeedMmPerSec(mm3ToMm(current_configuration.rate_ul_per_s));
resetPosition();
moveToMm(-maxCourseMm);
} }
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) void Syringe :: setupJsonSyringe( float total_volume_mL, float internal_diameter_mm, int id)
/***
-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)
***/
{ {
if (pressed) //if the limit switch is pressed
{ //ADD INITIALISATION VALUES TO THE DOC
setEmergency(); //we're entering a state of emergency SyringeJSON["total_volume_mL"] = total_volume_mL;
if (stepperMoving) SyringeJSON["internal_diameter_mm"] = internal_diameter_mm;
{ SyringeJSON["id"] = id;
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");
}
}
//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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