########################################################################
### FILE:	fluidics.mod
### PURPOSE:	Fluidics initialization
### SCOPE:	Top Level
###
### Copyrights (C) 2010 Life Technologies.  All rights reserved.
########################################################################


### Fluidics Ready state
    STATE:NEW Fluidics:Ready
    STATe:DEPendency+ Instrument:Initialized -requires=Fluidics:Ready

### Liquid Pump
    STATE:NEW LiquidPump:On
    STATe:DEPendency+ LiquidPump:On -conflicts=FrontDoor:Open
    STATE:DEPendency+ Fluidics:Ready -requires=LiquidPump:On

### Tank Levels
    STATE:NEW SystemLiquid:Installed
    STATe:NEW SystemLiquid:Full
    STATe:NEW SystemLiquid:HalfEmpty 
    STATe:NEW SystemLiquid:Low
    STATe:NEW SystemLiquid:Empty
    STATe:DEPendency LiquidPump:On -requires=SystemLiquid:Installed -conflicts=SystemLiquid:Empty

    STATE:NEW RinseTank:Installed
    STATe:NEW RinseTank:Empty
    STATe:NEW RinseTank:High
    STATe:NEW RinseTank:Full

    STATe:NEW WasteTank:Installed
    STATe:NEW WasteTank:Empty
    STATe:NEW WasteTank:High
    STATe:NEW WasteTank:Full

    STATe:DEPendency Fluidics:Ready -conflicts=SystemLiquid:Empty,RinseTank:Full,WasteTank:Full
    STATe:DEPendency Fluidics:Ready -requires=RinseTank:Installed,WasteTank:Installed


    FLUidics:ALIas TankThreshold? CONFiguration? fluidics_specs.ini TankThresholds


    DEFine TANK? $tank$ <quote>
        SET statelist $(CONF? -ignoreMissing fluidics_specs.ini TankLevels $tank$)
        UNLESS ${#statelist} <quote.error>
            ERRor -id=NoSuchTank -tank="$tank$" \
	    	  "Tank must be one of: $(CONF* fluidics_specs.ini TankLevels)"
        </quote.error>

        ITERATE -key=statelevel ${statelist} <iterate>
            SET state $[ "${statelevel}".split(":")[0] ]
            SET color $[ "${statelevel}".split(":")[1] ]

	    IF $[ "${state}" == "" ] <if>
                RETURN ${color}
            </if>
	    ELIF $(STATE? -errorstate=False $tank$:${state}) <elif>
                RETURN ${color}
            </elif>
        </iterate>
    </quote>


    DESCribe TANK? <quote>
        Return the current sensor state for the specified tank, which must be one of
        "SystemLiquid", "RinseTank", or "WasteTank".

        The returned level is one of:
             Full
             High 
             Low 
             Minimal (only for "SystemLiquid" tank)
             Empty
    </quote>


### Set up Robot
    MODule robotics.mod