Besta Motorventil aufgenommen

gui/besta.py

@@ -0,0 +1,114 @@
+import tkinter as tk
+import tkinter.ttk as ttk
+import serial.tools.list_ports
+
+command = []
+
+ports = serial.tools.list_ports.comports()
+serialObj = serial.Serial()
+
+def serial_ports():
+    return serial.tools.list_ports.comports()
+
+def on_select(event=None):
+    serialObj.port = cb.get().split(' ')[0]
+    serialObj.baudrate = 9600
+    serialObj.open()
+
+root = tk.Tk()
+#configue root
+root.title("Jfs Besta")
+root.geometry('800x500+300+300')
+root.columnconfigure(0,weight=1)
+root.rowconfigure(1,weight=1)
+port = tk.IntVar()
+
+cb =ttk.Combobox(root,values=serial_ports())
+cb.grid(row=0,column=0,stick="nwe")
+cb.bind('<<ComboboxSelected>>',on_select)
+
+scb =tk.Scrollbar(root)
+scb.grid(row=1,column=1,sticky='ns')
+txt = tk.Text(root)
+txt.grid(row=1,column=0,sticky='ewns')
+scb.config(command=txt.yview)
+txt.config(yscrollcommand=scb.set)
+txt.tag_configure('small',font=('Verdana',8),foreground='black')
+
+portlbl = ttk.Label(root,textvariable=port,background='grey',font='none 24 bold')
+portlbl.config(anchor=tk.CENTER)
+portlbl.grid(row=0,column=2,sticky='nsew')
+
+left = ttk.LabelFrame(root,text='Commands')
+left.grid(row=1,column=2,sticky='ne')
+
+class Callback:
+    def __init__(self,func,*args,**kwargs):
+            self.func=func
+            self.args=args
+            self.kwargs=kwargs
+    def __call__(self):
+        self.func(*self.args,**self.kwargs)
+
+def default_callback(i):
+        cmd = [0x2A,0x01,0x01,0x00,0x02]
+        cmd[2] = i
+        cmd[4] = i+1
+        command.append(cmd)
+        command.append( [0x2A,0x01,90,0x00,91])     #get position
+
+for i in range(1,7):
+    btn = ttk.Button(left,text = f'Goto {i}',command=Callback(default_callback,i))
+    btn.grid(row=i-1,column=2)
+
+ttk.Button(left,text='up',command=Callback(default_callback,70)).grid(row=8,column=2)
+ttk.Button(left,text='down',command=Callback(default_callback,71)).grid(row=9,column=2)
+ttk.Button(left,text='Position',command=Callback(default_callback,90)).grid(row=10,column=2)
+ttk.Button(left,text='Aus',command=Callback(default_callback,76)).grid(row=11,column=2)
+
+def checkcommand(x):
+    i = x[2]
+    if i<=6:
+        return f'Goto Port {i} ->'
+    if i==70:
+        return 'up ->'
+    if i==71:
+        return 'down ->'
+    if i==90:
+        return 'Position :'
+    if i==76:
+        return 'Ausschalten '
+
+def checkdone(x):
+    i = x[2]
+    if i == 255:
+         return "."
+    if i == 250:
+        return "Falscher Befehl\n"
+    if i == 245:
+        return "Gerät in Störung\n"
+    if i <= 6:
+        port.set(i)
+        return f' {i} \n'
+
+weiter = True
+def checkSerialPort():
+    global weiter
+    if serialObj.isOpen() and serialObj.in_waiting:
+       inp = serialObj.read(size=4)
+       txt.insert(tk.END,checkdone(inp))
+       weiter = True
+    if  (len(command) > 0) & (weiter==True) :
+        if serialObj.isOpen() :
+            x = command.pop(0)
+            txt.insert(tk.END,checkcommand(x),'small')
+            serialObj.write(bytes(x))
+            weiter=False
+        else :
+            txt.insert('0.1','Kein Port geöffnet !!!\n')
+            x = command.clear()      
+
+while True:
+    root.update()
+    checkSerialPort()
+   

gui/labrobot.py

@@ -31,10 +31,10 @@ class LabPip(LabPis):
     def __init__(self, x=LabPis.default_x, y=LabPis.default_y, z=LabPis.default_z, id=LabPis.default_id, e=LabPis.default_e,
                 vol=default_vol,hub=default_hub,fe=default_fe,top=default_top):
         super().__init__(x=x, y=y, z=z, id=id, e=e)
-        self.vol = vol
+        self.vol = float(vol)
-        self.fe = fe
+        self.fe = float(fe)
-        self.hub = hub
+        self.hub = float(hub)
-        self.top = top
+        self.top = float(top)
         self.aktvol = 0
     
     #def __str__(self) -> str:
@@ -118,14 +118,14 @@ class LabPipBlock():
             """
 
     def __init__(self,xoffset,yoffset,z,rows,cols,deltax,deltay):
-        self.xoffset = xoffset
+        self.xoffset = float(xoffset)
-        self.yoffset = yoffset
+        self.yoffset = float(yoffset)
-        self.rows = rows
+        self.rows = int(rows)
-        self.columns = cols
+        self.columns = int(cols)
         self.anz = self.rows * self.columns
-        self.deltax = deltax
+        self.deltax = float(deltax)
-        self.deltay = deltay
+        self.deltay = float(deltay)
-        self.z = z
+        self.z = float(z)
   
         self.akt = 0
     
@@ -152,12 +152,12 @@ class LabPipBlock():
         return x,y,self.z
 
     def say_ok(self):
-        print('ok')
+        print(self.anz)
 
 class LabReactBlock(LabPipBlock):
 
     def __init__(self, xoffset, yoffset, z, rows, cols, deltax, deltay):
-        super().__init__(xoffset, yoffset, z, rows, cols, deltax, deltay)
+        super().__init__(float(xoffset), float(yoffset),float(z), int(rows), int(cols), float(deltax), float(deltay))
     
 
 class ChemLoc():

gui/main.ini

@@ -0,0 +1,2 @@
+[global]
+home = <G28>

gui/pipettes.ini

@@ -0,0 +1,13 @@
+[1000]
+xoffset = 14.5
+yoffset = 6.0
+rows = 5
+cols = 10
+xspace = 12.0
+yspace = 17.0
+tipvol = 1000
+zlevel = 74.0
+tipup = 22.0
+tipdown = 30.0
+tipspeed = 2000
+tiphub = 16.5

gui/testtk.py

@@ -2,6 +2,26 @@ import tkinter as tk
 import tkinter.ttk as ttk
 import os
 from configparser  import ConfigParser
+import serial.tools.list_ports
+from idlelib.tooltip import *
+import labrobot as lrb
+# serial ports
+ports = serial.tools.list_ports.comports()
+serialObj = serial.Serial()
+
+def serial_ports():
+    return serial.tools.list_ports.comports()
+
+def on_select(event=None):
+    serialObj.port = cb.get().split(' ')[0]
+    serialObj.baudrate = 115000
+    serialObj.open()
+
+# commands
+command = []
+
+## main,'
+orders =['Home','HomeX','HomeY']
 
 ## chemicals
 substances = ['Water','Propanol','Aceton']
@@ -26,7 +46,7 @@ def init_chem():
         frame = ttk.LabelFrame(chemframe,text=p)
         frame.grid(column=c,row=r)
         c +=1
-        if c > 3:
+        if c > 4:
             c=0
             r +=1
         for i in range(len(clabels)):
@@ -37,38 +57,352 @@ def init_chem():
             entry.grid(row=i,column=1,sticky='w')
             centrys.append([p,clabels[i],entry])
 
+## vessels
+vessels = ['1ml','HPLC','Kuvette']
+vlabels = ['rxoffset','ryoffset','rrows','rcols','rxspace','ryspace','rzlevel']
+ventrys = []
+vess_config = ConfigParser()
+def load_vess_config():
+    vess_config.read(os.path.join(os.path.dirname(__file__), "vessels.ini"),)
+def conf_vess_write():
+     for p in vessels:
+        vess_config[p] =  {}
+        for x in ventrys:
+            if x[0] == p:
+                vess_config[p][x[1]] = x[2].get()
+     with open(os.path.join(os.path.dirname(__file__), "vessels.ini"),'w') as f:
+         vess_config.write(f)
+def init_vess():
+    c =0 
+    r = 0
+    for p in vessels:
+        frame = ttk.LabelFrame(vessframe,text=p)
+        frame.grid(column=c,row=r)
+        c +=1
+        if c > 4:
+            c=0
+            r +=1
+        for i in range(len(vlabels)):
+            tk.Label(frame,text=vlabels[i]).grid(row=i,column=0)
+            var = tk.StringVar()
+            entry = tk.Entry(frame,width=10,textvariable=var)
+            var.set(vess_config[p][vlabels[i]])
+            entry.grid(row=i,column=1,sticky='w')
+            ventrys.append([p,vlabels[i],entry])
+
+##pipettes
+
+pipettes = ['1000','200','100']
+plabels = ['xoffset','yoffset','rows','cols','xspace','yspace','tipvol','zlevel','tipup','tipdown','tipspeed','tiphub']
+pentrys = []
+pipet_config = ConfigParser()
+def load_pipet_config():
+    pipet_config.read(os.path.join(os.path.dirname(__file__), "pipettes.ini"),)
+def pipet_vess_write():
+     for p in pipettes:
+        pipet_config[p] =  {}
+        for x in pentrys:
+            if x[0] == p:
+                pipet_config[p][x[1]] = x[2].get()
+     with open(os.path.join(os.path.dirname(__file__), "pipettes.ini"),'w') as f:
+         pipet_config.write(f)
+def init_pipet():
+    c =0 
+    r = 0
+    for p in pipettes:
+        frame = ttk.LabelFrame(pipetframe,text=p)
+        frame.grid(column=c,row=r)
+        c +=1
+        if c > 4:
+            c=0
+            r +=1
+        for i in range(len(plabels)):
+            tk.Label(frame,text=plabels[i]).grid(row=i,column=0)
+            var = tk.StringVar()
+            entry = tk.Entry(frame,width=10,textvariable=var)
+            var.set(pipet_config[p][plabels[i]])
+            entry.grid(row=i,column=1,sticky='w')
+            pentrys.append([p,plabels[i],entry])
 
 root = tk.Tk()
-
+akttip = tk.IntVar()
+lbp = lrb.LabPipBlock
+pip = lrb.LabPip
 ##init
 load_chem_config()
 substances = chem_config.sections()
+load_vess_config()
+vessels = vess_config.sections()
+load_pipet_config()
+pipettes= pipet_config.sections()
+print(pipettes)
 
 #configue root
 root.title("Jfs Labrobot")
 root.geometry('800x500+300+300')
 notebook = ttk.Notebook(root)
-notebook.grid(sticky='news',padx=5,pady=5)
+#notebook.grid(sticky='news',padx=5,pady=5)
+notebook.pack(fill='both',expand=1)
 notebook.enable_traversalrightmainframe = ttk.Frame(notebook)
-## mainframe
+## mainframe left
 mainframe = ttk.Frame(notebook)
 mainframe.columnconfigure(0,weight=1)
 notebook.add(mainframe,text='main',underline=0)
-fra1 = ttk.LabelFrame(mainframe,text=' Test')
+leftframe = ttk.LabelFrame(mainframe,text='Serial Connection')
+leftframe.columnconfigure(0,weight=1)
+leftframe.rowconfigure(1,weight=1)
+leftframe.grid(column=0,row=0,sticky='news')
+cb =ttk.Combobox(leftframe,values=serial_ports())
+cb.grid(row=0,column=0,stick="nwe")
+cb.bind('<<ComboboxSelected>>',on_select)
+scb =tk.Scrollbar(leftframe)
+scb.grid(row=1,column=1,sticky='ns')
+#txt = tk.Text(leftframe,height=30,width=50)
+txt = tk.Text(leftframe)
+txt.grid(row=1,column=0,sticky='ewns')
+scb.config(command=txt.yview)
+txt.config(yscrollcommand=scb.set)
+txt.tag_configure('small',font=('Verdana',8),foreground='black')
+#mainframe right
+rightframe = ttk.Frame(mainframe)
+rightframe.columnconfigure(0,weight=1)
+rightframe.rowconfigure(0,weight=1)
+rightframe.grid(column=1,row=0,sticky='new')
+
+uprightframe =ttk.LabelFrame(rightframe,text='Basic')
+uprightframe.grid(column=0,row=0,sticky='ns')
+
+downrightframe =ttk.LabelFrame(rightframe,text='More to select')
+downrightframe.grid(column=0,row=1,sticky='new',pady=5)
+
+b1 = ttk.Button(uprightframe,text='Home All',width=12)
+b1.grid(row=0,column=0,sticky='nw')
+b1t = Hovertip(b1,'All Axis to Home\nZ-axis first')
+b2 = ttk.Button(uprightframe,text='Home X',width=12)
+b2.grid(row=0,column=1,sticky='ne')
+b3 = ttk.Button(uprightframe,text='Home Y',width=12)
+b3.grid(row=1,column=0,sticky='nw')
+b4 = ttk.Button(uprightframe,text='Home Z',width=12)
+b4.grid(row=1,column=1,sticky='ne')
+b6 = ttk.Button(uprightframe,text='Home P',width=12)
+b6.grid(row=2,column=0,sticky='nw')
+b7 = ttk.Button(uprightframe,text='Get Position',width=12)
+b7.grid(row=2,column=1,sticky='ne')
+l1 = ttk.Label(uprightframe,text="Enter G-Code").grid(row=3,column=0)
+e1 = ttk.Entry(uprightframe)
+e1.grid(row=3,column=1)
+b5 = ttk.Button(uprightframe,text='Send Code')
+b5.grid(row=4,column=1,sticky="ne")
+b5t = Hovertip(b5,'Send Gcode\ndon\'t forget < >')
+
+b8 = ttk.Button(downrightframe,text='Next Tip')
+b8.grid(row=0,column=0,sticky='ne')
+b9 = ttk.Button(downrightframe,text='Up')
+b9.grid(row=0,column=1,sticky='ne')
+b10 = ttk.Button(downrightframe,text='Down')
+b10.grid(row=0,column=2,sticky='ne')
+b11 = ttk.Button(downrightframe,text='Top')
+b11.grid(row=1,column=0,sticky='ne')
+b13 = ttk.Button(downrightframe,text='Load')
+b13.grid(row=1,column=1,sticky='ne')
+b12 = ttk.Button(downrightframe,text='Dispense')
+b12.grid(row=1,column=2,sticky='ne')
+b14 = ttk.Button(downrightframe,text='Take Chem')
+b14.grid(row=2,column=0,sticky='ne')
+b15 = ttk.Button(downrightframe,text='Next Vessel')
+b15.grid(row=2,column=1,sticky='ne')
+b16 = ttk.Button(downrightframe,text='Load Next')
+b16.grid(row=2,column=2,sticky='ne')
+ttk.Label(downrightframe,text='Start Vessel').grid(row=3,column=0,sticky='e')
+e2 =ttk.Entry(downrightframe,width=5)
+e2.grid(row=3,column=1,sticky='w')
+ttk.Label(downrightframe,text='Last Vessel').grid(row=4,column=0,sticky='e')
+e3 =ttk.Entry(downrightframe,width=5)
+e3.grid(row=4,column=1,sticky='w')
+b17 = ttk.Button(downrightframe,text='Load All')
+b17.grid(row=4,column=2,sticky='e')
+b18 = ttk.Button(downrightframe,text='Clear Tip')
+b18.grid(row=3,column=2,sticky='e')
+## Info Panel
+downrightframe1 =ttk.LabelFrame(rightframe,text='Info')
+downrightframe1.grid(column=0,row=2,sticky='new',pady=5)
+i1l = ttk.Label(downrightframe1,text='Tip Nr')
+i1l.grid(row=0,column=0)
+i2l =ttk.Label(downrightframe1,textvariable=akttip)
+i2l.grid(row=0,column=1)
+
+
+
+## Test Zugriff
+downrightframe2 =ttk.LabelFrame(rightframe,text='Tests')
+downrightframe2.grid(column=0,row=3,sticky='new',pady=5)
+fra1 = ttk.LabelFrame(downrightframe2,text=' Chemicals')
 fra1.grid(row=0,column=0,sticky='nw')
 chemsub = tk.StringVar()
 chemlab = tk.StringVar()
 chemit  = tk.StringVar()
-
 def doit(*args):
     chemit.set(str(chem_config[chemsub.get()][chemlab.get()]))
-
 chemopt = ttk.OptionMenu(fra1,chemsub,substances[0],*substances,command=doit)
-chemopt.grid(row=0,column=0,sticky='e')
+chemopt.grid(row=1,column=0,sticky='e')
 chemopt1 = ttk.OptionMenu(fra1,chemlab,clabels[0],*clabels,command=doit)
-chemopt1.grid(row=0,column=1,sticky='e')
+chemopt1.grid(row=1,column=1,sticky='e')
 chemerg = ttk.Label(fra1,textvariable=chemit)
-chemerg.grid(row=0,column=2,sticky='ne')
+chemerg.grid(row=1,column=2,sticky='ne')
+
+fra2 = ttk.LabelFrame(downrightframe2,text=' Pipettes')
+fra2.grid(row=1,column=0,sticky='nw')
+pips = tk.StringVar()
+def do_pipettes(*args):
+    global lpb
+    lpb = lrb.LabPipBlock(pipet_config[pips.get()]['xoffset'],
+            pipet_config[pips.get()]['yoffset'],
+            pipet_config[pips.get()]['zlevel'],
+            pipet_config[pips.get()]['rows'],
+            pipet_config[pips.get()]['cols'],
+            pipet_config[pips.get()]['xspace'],
+            pipet_config[pips.get()]['yspace'])
+    global pip
+    pip = lrb.LabPip(pipet_config[pips.get()]['tipvol'],
+                    pipet_config[pips.get()]['tipup'],
+                    pipet_config[pips.get()]['tiphub'],
+                    pipet_config[pips.get()]['tipspeed'])
+
+pipopt = ttk.OptionMenu(fra2,pips,pipettes[0],*pipettes,command=do_pipettes)
+pipopt.grid(row=0,column=0,sticky='ew')
+fra3 = ttk.LabelFrame(downrightframe2,text=' Vessels')
+fra3.grid(row=2,column=0,sticky='nw')
+
+## main serial command
+def homeAll():
+    serialObj.write(b'<G28>\n')  
+    #print(lpb.say_ok(), pip.getVol())  
+b1.configure(command=homeAll)
+
+def homeX():
+    serialObj.write(b'<JX>\n')
+b2.configure(command=homeX)
+
+def homeY():
+    serialObj.write(b'<JY>\n')
+b3.configure(command=homeY)
+
+def homeZ():
+    serialObj.write(b'<JZ>\n')    
+b4.configure(command=homeZ)
+
+def homeP():
+    serialObj.write(b'<JP>\n')    
+b6.configure(command=homeP)
+
+def getPos():
+    serialObj.write(b'<J2>\n')      
+b7.configure(command=getPos)
+
+def do_gcode():
+    s = e1.get()
+    s = s + '\n'
+    print(s)
+    serialObj.write(s.encode('utf-8')) 
+b5.configure(command=do_gcode)
+
+def upTip():
+    command.append(pip.up().encode('utf-8'))    
+b9.configure(command=upTip)
+
+def downTip():
+    command.append(pip.down().encode('utf-8'))  
+b10.configure(command=downTip)
+
+def nextTip():
+    upTip()
+    serialObj.write(pip.get_tip(lpb.next()).encode('utf-8')) 
+    akttip.set(lpb.akt)
+    downTip()    
+b8.configure(command=nextTip)
+
+def load():
+    if pip.amIdown() == False:
+        command.append(pip.go_top().encode('utf-8'))
+        command.append(pip.go_down().encode('utf-8'))
+    else:
+        command.append(pip.go_top().encode('utf-8'))
+    pip.setVolMax()
+    aktvol.set(pip.getVol())
+b13.config(command=load)
+
+def dispense():
+    v = reaPart.get()
+    if pip.dispenseVol(v):
+        command.append(pip.sendE().encode('utf-8'))
+    else : 
+        takeChem()
+        upTip()
+        command.append(pip.get_tip(react.same()).encode('utf-8'))
+        downTip()
+        if pip.dispenseVol(v):
+            command.append(pip.sendE().encode('utf-8'))
+        else:
+            print('Error')
+    aktvol.set(pip.getVol()) 
+    print(pip.getVol())   
+
+b12.config(command=dispense)
+
+def top():
+    command.append(pip.go_top().encode('utf-8'))     
+b11.config(command=top)
+
+def takeChem():
+    upTip()
+    pip.setXY(chem.getXY())
+    command.append(pip.sendXY().encode('utf-8'))
+    pip.setZ(chem.load(pip.vol/1000))  #load 1ml
+    command.append(pip.down().encode('utf-8'))
+    load()
+    command.append(pip.up().encode('utf-8'))
+    chemVol.set(chem.vol)
+b14.config(command=takeChem)
+
+def nextVessel():
+    upTip()
+    command.append(pip.get_tip(react.next()).encode('utf-8')) 
+    rakt.set(react.akt)
+    downTip()   
+b15.config(command=nextVessel)
+
+def loadNext():
+    upTip()
+    takeChem()
+    nextVessel()
+    dispense()
+    upTip()
+b16.config(command=loadNext)
+
+def loadSerie():
+    takeChem()
+    p = startVessel.get()
+    q = lastVessel.get() + 1
+    for i in range(p,q):       
+        print(i)
+        react.akt = i
+        rakt.set(react.akt)
+        upTip()
+        command.append(pip.get_tip(react.same()).encode('utf-8'))
+        downTip()
+        dispense()
+    upTip()
+b17.config(command=loadSerie)
+
+def clearTip():
+    upTip()
+    pip.setXY(chem.getXY())
+    command.append(pip.sendXY().encode('utf-8'))
+    pip.clearVol()
+    command.append(pip.sendE().encode('utf-8'))
+
+b18.config(command=clearTip)
+
 
 ##chemicals
 chemframe = ttk.Frame(notebook)
@@ -76,6 +410,32 @@ notebook.add(chemframe,text='chemicals',underline=0)
 init_chem()
 tk.Button(chemframe,text='Load',command = load_chem_config).grid(row=100,column=0,sticky='ew')
 tk.Button(chemframe,text='Save',command = conf_chem_write).grid(row=100,column=1,sticky='ew')
+##vessels
+vessframe = ttk.Frame(notebook)
+notebook.add(vessframe,text='vessel',underline=0)
+init_vess()
+##pipettes
+pipetframe = ttk.Frame(notebook)
+notebook.add(pipetframe,text='pipettes',underline=0)
+init_pipet()
+
+## looping and working
+weiter = True
+def checkSerialPort():
+    global weiter
+    if serialObj.isOpen() and serialObj.in_waiting:
+        recentPacket = serialObj.readline()
+        recentPacketString  = recentPacket.decode('utf')
+        txt.insert('0.1',recentPacketString,'small')
+        weiter = True
+    if  (len(command) > 0) & (weiter==True) :
+            x = command.pop(0)
+            txt.insert('0.1',x,'small')
+            serialObj.write(x)
+            weiter=False
+           
 
 
-root.mainloop()
+while True:
+    root.update()
+    checkSerialPort()

gui/vessels.ini

@@ -0,0 +1,8 @@
+[1ml]
+rxoffset = 225.0
+ryoffset = 150.0
+rrows = 4
+rcols = 6
+rxspace = 20.0
+ryspace = 19.0
+rzlevel = 70.0