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



### Add Fluidics:ARM commands once robot is ready
    STATE:NEW Fluidics:Arm -requires=Fluidics:Robot
    STATe:TRIGger -immediate -states=Fluidics:Arm -edge=Set InitArm <quote>
        PUBLish Info "Setting up Fluidics ARM mehods..."
        FLUidics:ARM:MODule aliases.mod
        FLUidics:ARM:MODule fluidicsarm.mod

        ### Create aliases for RinseInside/RinseOutside
        FLUidics:ALIas RinseInside ARM:RinseInside
        FLUidics:ALIas RinseOutside ARM:RinseOutside
    </quote>


### Add stage axes "-StageX" and "-StageY" axes to 
### Robotics subsystem once MCB is available
    STATe:NEW Fluidics:InjectionPorts -requires=Fluidics:Robot,MCB
    STATe:TRIGger -states=Fluidics:InjectionPorts -edge=Set StageAxes:Add <quote>
	INFO "Adding stage axes X & Y to robotics control"

        MCB:MOTion:X:BASE?
        FLUidics:ARM:AXIS+ -type=stage STageX $1 $2
	FLUidics:ARM:STageX:SKIP= True

        MCB:MOTion:Y:BASE?
        FLUidics:ARM:AXIS+ -type=stage STageY $1 $2
	FLUidics:ARM:STageY:SKIP= True

        FLUidics:ARM:REServation+ InjectionPorts -STageX -STageY
    </quote>

    STATe:TRIGger -states=Fluidics:InjectionPorts -edge=Clear StageAxes:Clear <quote>
        IF $(STATE? -errorState=True Fluidics:Robot) <quote>
            TRY <try.first>       
                INFO "Removing stage axes X & Y from robotics control"
                FLUidics:ARM:REServation- InjectionPorts

                FLUidics:ARM:AXIS- StageX
                FLUidics:ARM:AXIS- StageY
            </try.first> <try.second>
                INFO "Failed to remove FLUidics:ARM:Stage{X|Y} axes: [${error}] ${message}"
            </try.second>
        </quote>
    </quote>


### Disable motion  once front door is opened
    STATE:NEW Fluidics:Disabled -requires=Fluidics:Robot -conflicts=FrontDoor:Locked
    STATE:TRIGGer -states=Fluidics:Disabled -edge=Set Fluidics:Disable <quote>
        FLUidics:ARM:DISABLE
    </quote>

    STATE:TRIGGer -states=Fluidics:Disabled -edge=Clear Fluidics:Enable <quote>
        IF $(STATE? Fluidics:Robot) <quote>
            FLUidics:ARM:ENABLE
        </quote> 
    </quote>


### Home Z axis once robot is available
    STATe:DEPendency Motion:Allowed -requires=Fluidics:Robot -conflicts=Fluidics:Disabled,TankDrawer:Open
    STATe:TRIGger -states=Motion:Allowed -edge=set -immediate HomeZ <quote>
        FLUidics:ARM:HOME Z
    </quote>


### Home arm once motion is allowed
    STATe:NEW Fluidics:ArmHomed -requires=Motion:Allowed
    STATe:TRIGGer -states=Fluidics:ArmHomed -edge=Set HomeArm <quote>
        UNLESS $(:FLUidics:ARM:HOMED?) <quote.home>
            :FLUidics:ARM:HOME
        </quote.home>
      
        UNLESS $(:FLUidics:ARM:PARKED?) <quote.park>
            FLUidics:ARM:PARK
        </quote.park>
    </quote>


### Home syringe once liquid pump is on
    STATe:NEW Fluidics:SyringeHomed -requires=Fluidics:ArmHomed,LiquidPump:On
    STATe:TRIGGer -states=Fluidics:SyringeHomed -edge=Set -immediate HomeSyringe <quote>
        FLUidics:ARM:HomeSyringe
        FLUidics:ARM:PARK
    </quote>


### Require fluidics for initialization
    STATe:DEPendency Fluidics:Ready -requires=Fluidics:SyringeHomed,Fluidics:InjectionPorts,Fluidics:Arm


### Aliases for backwards compatibility
    FLUidics:ALIAS LiquidHeight~    LiquidLevel~
    FLUidics:ALIAS LiquidHeight=    LiquidLevel=
    FLUidics:ALIAS LiquidHeight?    LiquidLevel?
    FLUidics:ALIAS VolumeByHeight?  VolumeByLevel? -fromBottom
    FLUidics:ALIAS HeightByVolume?  LevelByVolume? -fromBottom



### Set up tasks to be performed periodically during idle times.
#IDLE:TASK+ TipCalibrationCheck -interval=3600 -duration=60 -ignoreErrors <task>
#        FLUidics:ARM:TipCalibrationCheck CALFrame
#        FLUidics:ARM:TipCalibrationCheck CALStage
#    </iterate>
#</task>

#    IDLE:TASK+ HomeRobot -interval=900 -duration=15 <task>
#        TRY <try>
#            ACQuisition+ -owner=IdleTask Robot
#            FLUidics:ARM:HOME -prehome
#            FLUidics:ARM:PARK
#            ACQuisition- -owner=IdleTask Robot
#        </try> <except>
#            ACQuisition- -owner=IdleTask Robot
#            ERRor
#        </except>
#    </task>