add microtome commands

MPIBR · Jan 4, 2019 · f681987 · f681987
1 parent 4ef04de
commit f681987
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Showing 4 changed files with 84 additions and 8 deletions.
diff --git a/BrainATUMtome/microtome.cpp b/BrainATUMtome/microtome.cpp
@@ -1,7 +1,8 @@
 #include "microtome.h"
 
 Microtome::Microtome(QObject *parent) : QObject(parent),
-    m_serialPort(nullptr)
+    m_serialPort(nullptr),
+    m_cutter_requestStop(false)
 {
 
 }
@@ -22,28 +23,76 @@ void Microtome::open(const QString &portName, int baudRate)
             }
     );
     m_serialPort->open(portName, baudRate);
+    connect(this, &Microtome::schedule, m_serialPort, &SerialPort::on_scheduleMessage);
 }
 
 void Microtome::on_uirequest_cuttingMotor(bool state)
 {
-    QString textState = (state) ? "on" : "off";
-    emit log(EventLogType::Notify, "Microtome :: cutting motor is " + textState);
+    // request mottor stop at a retraction position
+    if (!state) {
+        m_cutter_requestStop = true;
+        return;
+    }
+
+    // ask for feedrate advance
+    QString command = SerialPackage::pack(ADDRESS_COMMAND_STEPPER) +
+                      SerialPackage::pack(STEPPER_FEEDRATE_MOTOR_CONTROL) +
+                      SerialPackage::pack(STATUS_GET);
+    QString buffer = SerialPackage::package(command);
+    emit schedule(buffer.toUtf8());
+
+    // start cutting motor
+    m_cutter_requestStop = false;
+    emit log(EventLogType::Notify, "Microtome :: cutting motor is on");
+    command = SerialPackage::pack(ADDRESS_COMMAND_CUTTER) +
+              SerialPackage::pack(CUTTER_MOTOR) +
+              SerialPackage::pack(STATUS_SET);
+    buffer = SerialPackage::package(command);
+
+    emit schedule(buffer.toUtf8());
 }
 
 
 void Microtome::on_uirequest_cuttingSpeed(int cuttingSpeed)
 {
     emit log(EventLogType::Notify, "Microtome :: cutting speed is " + QString::number(cuttingSpeed));
+
+    // 1 digit = 10 um/sec
+    quint16 valueCuttingSpeed = static_cast<quint16>(cuttingSpeed / 10);
+    QString command = SerialPackage::pack(ADDRESS_COMMAND_CUTTER) +
+                      SerialPackage::pack(CUTTER_SPEED_CUTTING) +
+                      SerialPackage::pack(STATUS_SET) +
+                      SerialPackage::pack(valueCuttingSpeed);
+    QString buffer = SerialPackage::package(command);
+    emit schedule(buffer.toUtf8());
 }
 
 
 void Microtome::on_uirequest_returnSpeed(int returnSpeed)
 {
     emit log(EventLogType::Notify, "Microtome :: return speed is " + QString::number(returnSpeed));
+
+    // 1 digit = 10 um/sec
+    quint16 valueReturnSpeed = static_cast<quint16>(returnSpeed / 10);
+    QString command = SerialPackage::pack(ADDRESS_COMMAND_CUTTER) +
+                      SerialPackage::pack(CUTTER_SPEED_RETURN) +
+                      SerialPackage::pack(STATUS_SET) +
+                      SerialPackage::pack(valueReturnSpeed);
+    QString buffer = SerialPackage::package(command);
+    emit schedule(buffer.toUtf8());
 }
 
 
 void Microtome::on_uirequest_feedStep(int feedStep)
 {
     emit log(EventLogType::Notify, "Microtome :: feed step is " + QString::number(feedStep));
+
+    // 1 digit == 1 nm
+    quint16 valueFeedStep = static_cast<quint16>(feedStep);
+    QString command = SerialPackage::pack(ADDRESS_COMMAND_STEPPER) +
+                      SerialPackage::pack(STEPPER_FEED) +
+                      SerialPackage::pack(STATUS_SET) +
+                      SerialPackage::pack(valueFeedStep);
+    QString buffer = SerialPackage::package(command);
+    emit schedule(buffer.toUtf8());
 }
diff --git a/BrainATUMtome/microtome.h b/BrainATUMtome/microtome.h
@@ -19,6 +19,32 @@ class Microtome : public QObject
 
 private:
     SerialPort *m_serialPort;
+    bool m_cutter_requestStop;
+
+    const quint8 ADDRESS_COMMAND_SYSTEM = 0x81;
+    const quint8 ADDRESS_RESPOND_SYSTEM = 0x18;
+    const quint8 ADDRESS_COMMAND_STEPPER = 0x41;
+    const quint8 ADDRESS_RESPOND_STEPPER = 0x14;
+    const quint8 ADDRESS_COMMAND_CUTTER = 0x51;
+    const quint8 ADDRESS_RESPOND_CUTTER = 0x15;
+
+    const quint8 SYSTEM_GET_PARTID = 0xF1;
+    const quint8 SYSTEM_COMMAND_TRANSMISSION_ERROR = 0xF3;
+    const quint8 SYSTEM_GET_VERSION = 0xF5;
+
+    const quint8 STEPPER_FEEDRATE_MOTOR_CONTROL = 0x20;
+    const quint8 STEPPER_FEED = 0x23;
+
+    const quint8 CUTTER_MOTOR = 0x20;
+    const quint8 CUTTER_SPEED_CUTTING = 0x30;
+    const quint8 CUTTER_SPEED_RETURN = 0x31;
+    const quint8 CUTTER_HANDWHEEL_POSITION = 0x40;
+
+    const quint8 STATUS_NULL = 0x00;
+    const quint8 STATUS_SET = 0x01;
+    const quint8 STATUS_GET = 0xFF;
+    const quint8 STATUS_INVALID_CALIBRATION = 0xE0;
+
 
 public slots:
     void on_uirequest_cuttingMotor(bool state);
@@ -28,6 +54,7 @@ public slots:
 
 signals:
     void log(EventLogType type, const QString &message);
+    void schedule(const QByteArray &message);
 
 };
 

diff --git a/BrainATUMtome/serialport.cpp b/BrainATUMtome/serialport.cpp
@@ -24,9 +24,9 @@ SerialPort::SerialPort(QObject *parent) : QObject(parent),
         connect(m_timerRespond, &QTimer::timeout, [this](){emit log(EventLogType::Warn, "SerialPort :: respond timeout.");});
 
 
-        connect(stateListener, &QState::entered, [this](){emit log(EventLogType::Notify, "SerialPort ::Dispatcher::Listener");});
-        connect(stateSender, &QState::entered, [this](){emit log(EventLogType::Notify, "SerialPort ::Dispatcher::Sender");});
-        connect(stateReceiver, &QState::entered, [this](){emit log(EventLogType::Notify, "SerialPort ::Dispatcher::Receiver");});
+        //connect(stateListener, &QState::entered, [this](){emit log(EventLogType::Notify, "SerialPort ::Dispatcher::Listener");});
+        //connect(stateSender, &QState::entered, [this](){emit log(EventLogType::Notify, "SerialPort ::Dispatcher::Sender");});
+        //connect(stateReceiver, &QState::entered, [this](){emit log(EventLogType::Notify, "SerialPort ::Dispatcher::Receiver");});
 
 
 }
@@ -135,7 +135,7 @@ void SerialPort::on_bufferWrite()
     else
     {
         m_timerRespond->start();
-        emit log(EventLogType::Notify, "SerialPort :: message " + QString::fromUtf8(packageBuffer));
+        emit log(EventLogType::Respond, "SerialPort :: message " + QString::fromUtf8(packageBuffer));
         emit sent();
     }
 }
diff --git a/config/settings.ini b/config/settings.ini
@@ -1,5 +1,5 @@
 [microtome]
-#deviceName=Leica
+#deviceName=LeicaEMUC7
 #port=COM2
 #baudRate=19200
 deviceName=Arduino