Replace labrobot.py

gui/labrobot.py

@@ -1,108 +1,364 @@
+import tkinter as tk
+from tkinter.constants import W, X
+import serial.tools.list_ports
+import functools
+import tkinter.ttk as ttk
+from configparser  import ConfigParser
+import os
+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 = 115200
+    serialObj.open()
+
+
+root = tk.Tk()
+#configue root
+root.title("Jfs Labrobot")
+root.geometry('800x500+300+300')
+root.columnconfigure(0,weight=1)
+root.rowconfigure(0,weight=1)
+#root.config(bg='#b7f731')
+
+notebook = ttk.Notebook(root)
+notebook.grid(sticky='news',padx=5,pady=5)
+notebook.enable_traversalrightmainframe = ttk.Frame(notebook)
+
+mainframe = ttk.Frame(notebook)
+#mainframe.rowconfigure(0,weight=1)
+mainframe.columnconfigure(0,weight=1)
+
+notebook.add(mainframe,text='main',underline=0)
+
+leftframe = ttk.Frame(mainframe)
+
+leftframe.columnconfigure(0,weight=1)
+leftframe.rowconfigure(1,weight=1)
+leftframe.grid(column=0,row=0,sticky='news')
+
+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)
+
+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')
+
+b1 = ttk.Button(uprightframe,text='Home All',width=12)
+b1.grid(row=0,column=0,sticky='nw')
+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")
+
+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')
 
 
 
-class LabPis:
+###################### Parts
-    """ Point in Lab Space | e.g. Point of a pipette tip"""
+## init Labrobot
-    default_x = 0
-    default_y = 0
-    default_z = 0
-    default_e = 0       # e.g piston position
-    default_id = 0
 
-    def __init__(self, x=default_x,y=default_y,z=default_z,id=default_id,e=default_e):
-        self.x = x
-        self.y = y
-        self.z = z
-        self.e = e
-        self.id = id
 
-    def __str__(self) -> str:
+xoffset = tk.DoubleVar()
-        return(f'<id= {self.id}|x={self.x}|y={self.y}|z={self.z}|e={self.e}>')
+yoffset = tk.DoubleVar()
+rows = tk.IntVar()
+cols = tk.IntVar()
+xspace = tk.DoubleVar()
+yspace = tk.DoubleVar()
+tipvol = tk.IntVar()
+zlevel = tk.DoubleVar()
+tipup = tk.DoubleVar()
+tiphub = tk.DoubleVar()
+tipspeed = tk.IntVar()
+akttip = tk.IntVar()
 
-class LabPip(LabPis):
+chemX = tk.DoubleVar()
-    default_vol = 1000      # pipette volume
+chemY = tk.DoubleVar()
-    default_top = 20        # piston top position
+chemVol = tk.DoubleVar()
-    default_hub = 10        # piston max hub
+chemZ = tk.DoubleVar()
-    default_fe = 2000       # speed piston
+deltaz = tk.DoubleVar()
+tauch = tk.DoubleVar()
 
-    def __init__(self, x=LabPis.default_x, y=LabPis.default_y, z=LabPis.default_z, id=LabPis.default_id, e=LabPis.default_e,
+def conf_read():
-                vol=default_vol,hub=default_hub,fe=default_fe,top=default_top):
+    config = ConfigParser()
-        super().__init__(x=x, y=y, z=z, id=id, e=e)
+    config.read(os.path.join(os.path.dirname(__file__), "config.ini"),)
-        self.vol = vol
+    xoffset.set(float(config.get('tipblock','xoffset',fallback=0)))
-        self.fe = fe
+    yoffset.set(float(config.get('tipblock','yoffset',fallback=0)))
-        self.hub = hub
+    rows.set(int(config.get('tipblock','rows',fallback=0)))
-        self.top = top
+    cols.set(int(config.get('tipblock','cols',fallback=0)))
+    xspace.set(float(config.get('tipblock','xspace',fallback=0)))
+    yspace.set(float(config.get('tipblock','yspace',fallback=0)))
+    tipvol.set(int(config.get('tipblock','tipvol',fallback=0)))
+    zlevel.set(float(config.get('tipblock','zlevel',fallback=0)))
+    tipup.set(float(config.get('tipblock','tipup',fallback=0)))
+    tiphub.set(float(config.get('tipblock','tiphub',fallback=0)))
+    tipspeed.set(int(config.get('tipblock','tipspeed',fallback=0)))
+    chemX.set(float(config.get('chemblock','chemx',fallback=0)))
+    chemY.set(float(config.get('chemblock','chemy',fallback=0)))
+    chemVol.set(float(config.get('chemblock','chemvol',fallback=0)))
+    chemZ.set(float(config.get('chemblock','chemz',fallback=0)))
+    deltaz.set(float(config.get('chemblock','deltaz',fallback=0)))
+    tauch.set(float(config.get('chemblock','tauch',fallback=0)))
+
+def conf_write():
+     config = ConfigParser()
+     config.read(os.path.join(os.path.dirname(__file__), "config.ini"),)
+     config.set('tipblock','xoffset',str(xoffset.get()))
+     config.set('tipblock','yoffset',str(yoffset.get()))
+     config.set('tipblock','rows',str(rows.get()))
+     config.set('tipblock','cols',str(cols.get()))
+     config.set('tipblock','xspace',str(xspace.get()))
+     config.set('tipblock','yspace',str(yspace.get()))
+     config.set('tipblock','tipvol',str(tipvol.get()))
+     config.set('tipblock','zlevel',str(zlevel.get()))
+     config.set('tipblock','tipup',str(tipup.get()))
+     config.set('tipblock','tiphub',str(tiphub.get()))
+     config.set('tipblock','tipspeed',str(tipspeed.get()))   
+     config.set('chemblock','chemx',str(chemX.get())) 
+     config.set('chemblock','chemy',str(chemY.get()))    
+     config.set('chemblock','chemvol',str(chemVol.get()))   
+     config.set('chemblock','chemz',str(chemZ.get()))   
+     config.set('chemblock','deltaz',str(deltaz.get()))   
+     config.set('chemblock','tauch',str(tauch.get()))       
+     with open(os.path.join(os.path.dirname(__file__), "config.ini"),'w') as f:
+         config.write(f)
+conf_read()
+
+lpb = lrb.LabPipBlock(xoffset.get(),yoffset.get(),zlevel.get(),rows.get(),cols.get(),xspace.get(),yspace.get())
+pip = lrb.LabPip(vol=tipvol.get(),top=tipup.get(),hub=tiphub.get(),fe=tipspeed.get())
+chem = lrb.ChemLoc(chemX.get(),chemY.get(),chemZ.get(),chemVol.get(),deltaz.get(),tauch.get())
+
+partframe = ttk.Frame(notebook)
+#partframe.rowconfigure(0,weight=1)
+partframe.columnconfigure(0,weight=1)
+notebook.add(partframe,text='parts',underline=0)
+
+pipblockframe =ttk.LabelFrame(partframe,text='Tip Block')
+pipblockframe.grid(column=0,row=0,sticky='wns',padx=5,pady=5)
+pl1 = ttk.Label(pipblockframe,text='X offset').grid(column=0,row=0,padx=5)
+pe1 = ttk.Entry(pipblockframe,textvariable=xoffset)
+pe1.grid(column=1,row=0,sticky='e')
+pl2 = ttk.Label(pipblockframe,text='rows').grid(column=0,row=2,padx=5)
+pe2 = ttk.Entry(pipblockframe,textvariable=rows)
+pe2.grid(column=1,row=2,sticky='e')
+pl3 = ttk.Label(pipblockframe,text='columns').grid(column=0,row=3,padx=5)
+pe3 = ttk.Entry(pipblockframe,textvariable=cols)
+pe3.grid(column=1,row=3,sticky='e')
+pl4 = ttk.Label(pipblockframe,text='x space').grid(column=0,row=4,padx=5)
+pe4 = ttk.Entry(pipblockframe,textvariable=xspace)
+pe4.grid(column=1,row=4,sticky='e')
+pl5 = ttk.Label(pipblockframe,text='y space').grid(column=0,row=5,padx=5)
+pe5 = ttk.Entry(pipblockframe,textvariable=yspace)
+pe5.grid(column=1,row=5,sticky='e')
+pl6 = ttk.Label(pipblockframe,text='Y offset').grid(column=0,row=1,padx=5)
+pe6 = ttk.Entry(pipblockframe,textvariable=yoffset)
+pe6.grid(column=1,row=1,sticky='e')
+pl8 = ttk.Label(pipblockframe,text='Z uptake').grid(column=0,row=6,padx=5)
+pe8 = ttk.Entry(pipblockframe,textvariable=zlevel)
+pe8.grid(column=1,row=6,sticky='e')
+ttk.Separator(pipblockframe, orient=tk.HORIZONTAL).grid(row=7,sticky='ew')
+pl7 = ttk.Label(pipblockframe,text='Tip Volume').grid(column=0,row=8,padx=5)
+pe7 = ttk.Entry(pipblockframe,textvariable=tipvol)
+pe7.grid(column=1,row=8,sticky='e')
+pl9 = ttk.Label(pipblockframe,text='Tip Top').grid(column=0,row=9,padx=5)
+pe9 = ttk.Entry(pipblockframe,textvariable=tipup)
+pe9.grid(column=1,row=9,sticky='e')
+pl10 = ttk.Label(pipblockframe,text='Tip Hub').grid(column=0,row=10,padx=5)
+pe10 = ttk.Entry(pipblockframe,textvariable=tiphub)
+pe10.grid(column=1,row=10,sticky='e')
+pl11 = ttk.Label(pipblockframe,text='Tip Speed').grid(column=0,row=11,padx=5)
+pe11 = ttk.Entry(pipblockframe,textvariable=tipspeed)
+pe11.grid(column=1,row=11,sticky='e')
+ttk.Separator(pipblockframe, orient=tk.HORIZONTAL).grid(row=80,sticky='ew')
+pl12 = ttk.Label(pipblockframe,text='Akt Tip').grid(column=0,row=81,padx=5)
+pe12 = ttk.Entry(pipblockframe,textvariable=akttip)
+pe12.grid(column=1,row=81,sticky='e')
+ttk.Separator(pipblockframe, orient=tk.HORIZONTAL).grid(row=98,sticky='ew')
+pb1 = ttk.Button(pipblockframe,text='Set')
+pb1.grid(column=0,row=99,sticky='e')
+pb2 = ttk.Button(pipblockframe,text='Save')
+pb2.grid(column=1,row=99,sticky='w')
+
+chemframe =ttk.LabelFrame(partframe,text='Chemicals')
+chemframe.grid(column=1,row=0,sticky='wns',padx=5,pady=5)
+cl1 = ttk.Label(chemframe,text='X pos').grid(column=0,row=0,padx=5)
+ce1 = ttk.Entry(chemframe,textvariable=chemX)
+ce1.grid(column=1,row=0,sticky='e')
+cl2 = ttk.Label(chemframe,text='Y pos').grid(column=0,row=1,padx=5)
+ce2 = ttk.Entry(chemframe,textvariable=chemY)
+ce2.grid(column=1,row=1,sticky='e')
+cl3 = ttk.Label(chemframe,text='Z Surface').grid(column=0,row=2,padx=5)
+ce3 = ttk.Entry(chemframe,textvariable=chemZ)
+ce3.grid(column=1,row=2,sticky='e')
+cl4 = ttk.Label(chemframe,text='Volume').grid(column=0,row=3,padx=5)
+ce4 = ttk.Entry(chemframe,textvariable=chemVol)
+ce4.grid(column=1,row=3,sticky='e')
+cl5 = ttk.Label(chemframe,text='DeltaZ/ml').grid(column=0,row=4,padx=5)
+ce5 = ttk.Entry(chemframe,textvariable=deltaz)
+ce5.grid(column=1,row=4,sticky='e')
+### commands and bindings
+
+pb2.config(command=conf_write)
+
+
+
+def set_tipblock():
+    global lpb
+    lpb.xoffset = float(xoffset.get())
+    lpb.yoffset = float(yoffset.get())
+    lpb.rows = int(rows.get())
+    lpb.columns = int(cols.get())
+    lpb.deltax = float(xspace.get())
+    lpb.deltay = float(yspace.get())
+    lpb.z = float(zlevel.get())
+    lpb.akt = int(akttip.get())
+    global pip
+    pip.vol = int(tipvol.get())
+    pip.hub = float(tiphub.get())
+    pip.fe = int(tipspeed.get())
+    pip.top = float(tipup.get())
+    global chem
+    chem.xloc = float(chemX.get())
+    chem.yloc = float(chemY.get())
+    chem.vol = float(chemVol.get())
+    chem.zloc = float(chemZ.get())
+    chem.deltaz = float(deltaz.get())
+    chem.tauch = float(tauch.get())
+
+pb1.config(command=set_tipblock)
     
-    def __str__(self) -> str:
+def homeAll():
-        return super().__str__()[:-1]+f'|top={self.top}|hub={self.hub}|vol={self.vol}|fe={self.fe}>'
+    serialObj.write(b'<G28>\n')    
+b1.configure(command=homeAll)
 
-    def sendE(self):
+def homeX():
-        return f'<G1 P{self.e} F{self.fe}>\n'
+    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():
+    serialObj.write(pip.up().encode('utf-8')) 
+b9.configure(command=upTip)
+
+def downTip():
+    serialObj.write(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()
     
-    def sendXY(self):
+b8.configure(command=nextTip)
-        print(f'<G1 X{self.x} Y{self.y}  F{self.fe}>\n')
-        return f'<G1 X{self.x} Y{self.y} F{self.fe}>\n'
 
-    def go_top(self):
+def load():
-        self.e=self.top
+    serialObj.write(pip.go_top().encode('utf-8')) 
-        return self.sendE() 
+    serialObj.write(pip.go_down().encode('utf-8'))
+    serialObj.write(pip.go_top().encode('utf-8'))
+b13.config(command=load)
 
-    def get_tip(self,l):
+def dispense():
-        self.up()
+    serialObj.write(pip.go_down().encode('utf-8')) 
-        self.x = l[0]
+b12.config(command=dispense)
-        self.y = l[1]
-        self.z = l[2]
-        return self.sendXY()
 
-    def up(self):
+def top():
-        print(f'<G1 Z0 F{self.fe}>\n')
+    serialObj.write(pip.go_top().encode('utf-8')) 
-        return f'<G1 Z0 F{self.fe}>\n'
+b11.config(command=top)
-
-    def down(self):
-        return f'<G1 Z{self.z} F{self.fe}>\n'
-
-        
-
-class LabPipBlock():
-    """ Pipettenblock description 
-            x_offset, y_offset of first tip,
-            z for take a tip,
-            number of rows and columns,
-            deltax,deltay space between first and last tips
-            """
-
-    def __init__(self,xoffset,yoffset,z,anz,rows,deltax,deltay):
-        self.xoffset = xoffset
-        self.yoffset = yoffset
-        self.anz = anz
-        self.rows = rows
-        self.columns = anz / rows
-        self.deltax = deltax
-        self.deltay = deltay
-        self.z = z
-        self.akt = 0
-    
-    def next(self):
-        if self.akt == self.anz:
-            return f'No more tips !!'
-        else :
-            r = self.anz / self.rows
-            m = self.akt % r    # column
-            c = self.akt // r   # row
-            self.akt += 1
-            x = self.xoffset + (m * self.deltax/(self.columns-1))
-            y = self.yoffset + (c * self.deltay/(self.rows))
-            return x,y,self.z
 
+def takeChem():
+    print(chem.getXY())
+    pip.setXY(chem.getXY())
+    serialObj.write(pip.sendXY().encode('utf-8'))
+    pip.setZ(chem.load(1))
+    serialObj.write(pip.down().encode('utf-8'))
+    serialObj.write(pip.go_top().encode('utf-8'))
+    upTip()
     
 
-#Job 100myl of A in Vial 1
+
-#v1 = LabPis(200,200,100,21)
+b14.config(command=takeChem)
-#a1 = LabPis(100,100,100,1)
+def checkSerialPort():
-#p1 = LabPis()
+    if serialObj.isOpen() and serialObj.in_waiting:
-if __name__ == '__main__':
+        recentPacket = serialObj.readline()
-    lpb = LabPipBlock(16,1,78,20,5,108,86)
+        recentPacketString  = recentPacket.decode('utf')
-    pip = LabPip(vol=500)
+        txt.insert('0.1',recentPacketString,'small')
-    pip.fe =5000
+       
-    for i in range(20):
+
-        print(pip.get_tip(lpb.next()))
+
+while True:
+    root.update()
+    checkSerialPort()
+   
+