########################################################################
### FILE:	fluidicscontrol.mod
### PURPOSE:	Client interface for fluidics scripting
### SCOPE:	"FlowChip<n>:" branches
###
### Copyrights (C) 2010-2011 Life Technologies.  All rights reserved.
########################################################################


DEFine ASPirate $arm$=0 $rate$=0 $dwell$='' $count$=1 $probeType$='' $volume$ $location$='' <quote>
    SET volume $[ $volume$ * $count$ ]
    SET dwell "$dwell$"
    PUBLish Fluidics "Aspirating ${volume} microliters from $location$"
    RUN ":FLUidics:ASPirate -arm=$arm$ -rate=$rate$ ${dwell:+-dwell=$dwell$} -purpose=$probeType$ -context=FlowChip${FC} -volume=${volume} '$location$'"
</quote>

DEFine DISPense $arm$=0 $rate$=0 $dwell$='' \
                $pullbackVolume$='' $pullbackRate$='' $count$=1 $probeType$='' $volume$ \
                $location$='' <quote>
    SET volume  $[ $volume$ * $count$ ]
    SET options "-arm=$arm$ -rate=$rate$ -purpose=$probeType$ -context=FlowChip${FC} -volume=${volume}"
    IF $[ "$dwell$" != "" ]  'APPend options " -dwell=$dwell$"'
    IF $[ "$pullbackVolume$" != "" ] 'APPend options " -pullbackVolume=$pullbackVolume$"'
    IF $[ "$pullbackRate$" != "" ] 'APPend options " -pullbackRate=$pullbackRate$"'

    PUBLish Fluidics "Dispensing ${volume} microliters to $location$"
    RUN ":FLUidics:DISPense ${options} '$location$'"
</quote>

DEFine TRANsfer $arm$=0 $rate$=0 $aspirateRate$=0 $dispenseRate$=0 \
                $dwell$="" $aspirateDwell$="" $dispenseDwell$="" \
                $pullbackVolume$='' $pullbackRate$='' \
                $probeType$="" $volume$=0 \
                $pauseImaging$=False $resumeImaging$=False $sync$='' \
                $source$ $primaryDestination$ $secondaryDestination$="" <quote>

    PUBLish Fluidics "Transferring $volume$ microliters from $source$ to $primaryDestination$ $secondaryDestination$"

    SET options    "-arm=$arm$ -purpose=$probeType$ -context=FlowChip${FC} -volume=$volume$"
    APPend options " -aspirateRate=$[ $aspirateRate$ or $rate$ ]"
    APPend options " -dispenseRate=$[ $dispenseRate$ or $rate$ ]"

    IF $[ "$pullbackVolume$" != "" ] 'APPend options " -pullbackVolume=$pullbackVolume$"'
    IF $[ "$pullbackRate$" != "" ]   'APPend options " -pullbackRate=$pullbackRate$"'

    SET aspDwell  $[ "$aspirateDwell$" or "$dwell$" ]
    SET dispDwell $[ "$dispenseDwell$" or "$dwell$" ]

    IF ${#aspDwell}  "APPend options ' -aspirateDwell=${aspDwell}'"
    IF ${#dispDwell} "APPend options ' -dispenseDwell=${dispDwell}'"
    
    SET PreAspirate ""
    SET PreDispense ""
    IF $[ bool("$sync$") ] <quote>
        APPend PreDispense ":FlowChip${FC}:PUBLish Fluidics 'Waiting for \"$sync$\"...'\n"
        APPend PreDispense ":FlowChip${FC}:SYNChronize $sync$\n"
    </quote>
    IF $pauseImaging$ <quote>
        APPend PreAspirate ":PauseImaging\n"
    </quote>

    APPend PreDispense ":ImagingPauseCheck\n"

    IF ${#PreAspirate} 'APPend options " -preaspirate=<quote>${preaspirate}</quote>"'
    IF ${#PreDispense} 'APPend options " -predispense=<quote>${predispense}</quote>"'

    RUN ":FLUidics:TRANsfer ${options} '$source$' '$primaryDestination$' '$secondaryDestination$'"

    IF $resumeImaging$ :ResumeImaging
</quote>


DEFine MIX $arm$='' $rate$=100 $count$=1 $multiplier$=1 $dwell$=0 $probeType$="" $volume$=50 $locations$ <quote>
    
    SET volume $[ $volume$ * $multiplier$ ]
    ITERate -key=location -delimiter="," "$locations$" <iterate>
        IF ${#location} <if>
            SET context  FlowChip${FC}
            :PUBLISH Fluidics "Mixing $count$ times at ${location}"

            REPeat -counter=iteration -start=1 $count$ <repeat>
                SET dwell $[ (${iteration} < $count$) * $dwell$ ]
		:FLUidics:TRANSFER -volume=${volume} \
                                   -aspirateRate=$rate$ -dispenseRate=$rate$ \
                                   -aspirateDwell=0 -dispenseDwell=${dwell} \
                                   -purpose=$probeType$ -context=FlowChip${FC} \
                                   ${location} ${location}
                                   
            </repeat>
        </if>
    </iterate>
    #:FLUidics:IDLE
</quote>

DESCribe MIX <quote>
    Repeatedly aspirate and dispense in the specified location(s), separated by comma.
</quote>



DEFine RINSE $part$=Inside,Outside $duration$=1 $tip$='' $location$=Rinse $dropletTouchOff$=False <quote>
    ITERATE -key=part -delimiter="," "$part$" <quote>
        Rinse${part} -tip=$tip$ -location=$location$ -duration=$duration$ -dropletTouchOff=$dropletTouchOff$

        #In some cases, after the rinse, a droplet forms on the tip. To remove
        #this droplet, this code touches the tip to the plastic poll extending
        #from the nozzle. The touch is done with the liquid level sensor.

        #IF $dropletTouchOff$ <quote>
        #   FLU:ARM$tip$:LiquidSense= False
        #   FLU:ARM$tip$:LiquidSense= True 0
        #   FLU:ARM$tip$:Z:POSition -relative=True 20
        #   FLU:ARM$tip$:LiquidSense= False 
        #</quote>
    </quote>
    :FLUidics:ARM$tip$:IDLE
</quote>

ALIAS DEEPRINSE RINSE -location=DeepRinse

#ALIAS IDLETIME? :FLUidics:ARM:IDLETIME?

DEFine RinseInside $tip$='' $dropletTouchOff$=False $location$=Rinse $duration$ <quote>
    PUBLish Fluidics "Rinsing inside tip$tip$ for $duration$s"
    :FLUidics:ARM$tip$:RinseInside -duration=$duration$ -location=$location$ -dropletTouchOff=$dropletTouchOff$
</quote>

DEFine RinseOutside $tip$='' $dropletTouchOff$=False $location$=Rinse $duration$ <quote>
    PUBLish Fluidics "Rinsing outside tip$tip$ for $duration$s"
    :FLUidics:ARM$tip$:RinseOutside -duration=$duration$ -location=$location$ -dropletTouchOff=$dropletTouchOff$
</quote>

DEFine EmptySyringe <quote>
    PUBLISH Fluidics "Emptying syringe"
    :FLUidics:ARM:EmptySyringe
</quote>


APPend START <quote>
   USE Robot
   IF $(:FLUidics:ARM:SYRinge:POSition?) <quote>
       EmptySyringe
   </quote>

   :FLUidics:ARM:PrimeLine
   RELEASE Robot
</quote>


APPend STOP <quote>
    USE Robot
    EmptySyringe
    :FLUidics:ARM:HOME -prehome
    :FLUidics:ARM:PARK
    RELEASE Robot
    
    :ACQuisition? -ignoreMissing Robot
    IF $[ "$1" == "FlowChip${FC}" ] <quote>
        WARNing "Procedure FlowChip${FC}:${Procedure} ended without releasing robot!"
    </quote>
</quote>


DEFine TipCalibrationCheck $tip$='' <quote>
    PUBLish Fluidics "Checking Tip Location Calibration"
    :FLUidics:ARM$tip$:TipCalibrationCheck CALFrame
    :FLUidics:ARM$tip$:TipCalibrationCheck CALStage
</quote>