—
—
—
—
—
—
—
—
—
—
—
—

              
package Robotics::Tecan::Genesis::Liha;
# vim:set nocompatible expandtab tabstop=4 shiftwidth=4 ai:
use warnings;
use strict;
use Moose::Role;
use Carp;
#extends 'Robotics::Tecan::Genesis';
#
# Tecan Genesis 
# Liquid handling commands
#
has 'position' => ( is => 'rw', isa => 'ArrayRef', default => sub { [] }, );
has 'plungerMin' => ( is => 'rw', isa => 'Int', default => 0 );
has 'plungerMax' => ( is => 'rw', isa => 'Int', default => 3150 );
has 'MAX_STEP' => ( is => 'rw', isa => 'ArrayRef', default => sub { [] }, );
my $Debug = 1;
HideShow 7 lines of Pod
=head1 NAME
Robotics::Tecan::Genesis::Liha - (Internal module)
Handlers for low level liquid handling hardware
=cut
sub getPipettePosition { 
    my ($self, %params) = @_;
    my $position;
    my $tip = $params{"tip"};
    my $code = $self->compile_xp("GET_STATUS",
            tip => $tip, parameter => 0);
    $self->DATAPATH()->write($code);
    my $reply = $self->DATAPATH()->read();
    if (!($reply =~ /^0/)) { 
        warn "!! ". __PACKAGE__. " expected '0' got '$reply' from hardware\n";
        return -1;
    } 
    $position = (split(/[,;]/,$reply))[1];
    if (!defined($position) || $position < 0) { 
        warn __PACKAGE__. " - tip position error in reply '$reply'\n";
        return -1;
    }
    warn __PACKAGE__. "Position of tip=$tip is ". $position. "\n" if $Debug>2;
    $self->position()->[$tip] = $position;
     
    return $position;
}
sub checkPipetteSteps {
    my ($self, %params) = @_;
     
    my $start = $params{"start"};
    my $stop =  $params{"stop"};
    my $tip = $params{"tip"};
    my $dir =  $params{"dir"};
     
    if (0) { 
        # From reading the vendor documentation,
        # it would seem proper to get the "max displacement"
        # of the syringe pump, for later calculations.
        # However it returns "300".  (?)
        my $max = $self->MAX_STEPS()->[$tip];
        if (!$max < 1) { 
            my $code = $self->compile_xp("RPP",
                    tip => $tip, parameter => 5);
            $self->DATAPATH()->write($code);
            my $reply = $self->DATAPATH()->read();
            if (!($reply =~ /^0/)) { 
                warn "!! ". __PACKAGE__. " expected '0' got '$reply' from hardware\n";
                return -1;
            } 
            $max = (split(/[,;]/,$reply))[1];
            if (!defined($max) || $max < 0) { 
                warn __PACKAGE__. " - tip max error in reply '$reply'\n";
                return -1;
            }
            warn __PACKAGE__. "Max of tip=$tip is ". $max. "\n" if $Debug;
            $self->MAX_STEPS()->[$tip] = $max;
        }
    }
     
    if ($dir eq "a") { 
        if ($stop > $self->plungerMax || $stop < $self->plungerMin) { 
            return 0;
        }
        if ($stop < 1) { 
            return 0;
        }
        if ($start > $stop) { 
            return 0;
        }
        if ($start eq $stop) { 
            carp "plunger start eq stop";
        }
        return 1;
    }
    elsif ($dir eq "d") { 
        if ($stop > $self->plungerMax || $stop < $self->plungerMin) { 
            return 0;
        }
        if ($stop < 0) { 
            return 0;
        }
        if ($start < $stop) { 
            return 0;
        }
        if ($start eq $stop) { 
            carp "plunger start eq stop";
        }
        return 1;
    }
    else {
        die "bad dir '$dir' for tip '$tip'";
    }
         
}
sub getPipetteSpeed {
    my ($self, %params) = @_;
     
    # TODO: Get from liquid database
    my $tip = $params{"tip"};
     
    # return (plunger start speed, plunger end speed)
    return (900, 1400, 2400);
}
sub getPipetteDelay {
    my ($self, %params) = @_;
     
    # TODO: Get from liquid database
    my $tip = $params{"tip"};
     
    # return delay
    return 0;
}
sub convertVolToSteps { 
    my ($self, $vol) = @_;
     
    # Constants should be queried from the hardware 
    # itself to be portable.  Still looking for a way to 
    # do that.
    my $maxvol = 1000; # uL
    my $maxstep = 3150; 
    my $step;
     
    # Tecan vol->steps uses uL
    $vol =~ /^(\d+)([munp]*)/i;
    if ($2 eq "u") { 
        $vol = $1;
    }
    elsif ($2 eq "n") { 
        $vol = $1 * 1000;
    }
    elsif ($2 eq "p") {
        $vol = $1 * 1000 * 1000;
    }
    elsif ($2 eq "m") {
        $vol = $1 / 1000;
    }
     
     
    if ($vol > $maxvol) {
        carp __PACKAGE__. " improper volume '$vol'";
        return -1; 
    }
    $step = int($vol * $maxstep / $maxvol);
    warn __PACKAGE__. " new steps for vol $vol ". $step. "\n" if $Debug;
    return $step;
}
HideShow 24 lines of Pod
=head2 tip_aspirate
Aspirate with coupled tips from named arm.  Use tip string to specify tips.
Specify volume and location, with optional liquid type, flags, etc.
Requires work table to be previously loaded.
Return status string.
May take time to complete.
=item named motor arm - string, motor name (default: "liha")
=item (optional) tips - string, "1" or "2-6" or "2,4,1,7" or "1,5-8" or "all" (default: "1")
=item (optional) volume - string, specifying volume of 1-1000 for each tip, such as "20,20,20" (default: 10)
=item (optional) location - string, specifying "well" numbers or well co-ordinates (default: "1")
=item (optional) liquid type - string, from configuration database (default: "Water")
=item (optional) position - numeric, carrier location, 1-67 (default: 1)
=item (optional) site - numeric, rack position, 0-127 (default: 0)
=item (optional) inter-tip distance - numeric, 1-n (default: 1)
=item (optional) flags - various flags for specifying actions after aspiration (default: "") 
=item (optional) flag argument - various arguments depending on flags (default: "")
=cut
sub tip_aspirate { 
    my $self = shift;
    my %param = @_;
    $self->tip_aspirate_type0( @_ );
}
sub tip_aspirate_type0 {
    my ($self, %params) = @_;
     
    my $motor = $params{"name"} || "liha";
    my $tips = $params{"tips"} || "1";
    my $volume = $params{"volume"} || "10";
    my $location = $params{"at"} || 0;
    my $liquid = $params{"liquid"} || "Water";
    my $grid = $params{"grid"} || "11";
    my $site = $params{"site"} || "0";
    my $tipdist = $params{"tipdistance"} || "1";
    my $flags = $params{"flags"} || "";
    my $flagarg = $params{"flagarg"} || "";
     
    my @tiparray = _tipStringToArray8($tips);
    my $reply;        
    for my $tip (@tiparray) { 
        my $code;
         
        my $position = $self->getPipettePosition(
                tip => $tip);
         
        if ($position < 0) { 
            warn __PACKAGE__. " bad tip position, ignoring operation\n";
            next;
        }
        my $step = $self->convertVolToSteps($volume);
        if ($step < 1) { 
            carp __PACKAGE__. " cant aspirate $volume";
            return "";
        }
         
        my $newposition = $step + $position;
        # TODO: Add liquid property adjustments here
         
        if (!$self->checkPipetteSteps(
                tip => $tip,
                start => $position, 
                stop => $newposition, 
                dir => 'a')) {
            carp("Robotics plunger error, cant aspirate $step steps");
            return "";
        }
         
        my ($ss, $se, $cutoff) = $self->getPipetteSpeed(tip => $tip);
        my $delay = $self->getPipetteDelay(tip => $tip);
         
        $code = $self->compile_xp("SET_SPEED", 
                endspeed => $se,    
                startspeed => $ss,
                tip => $tip);
        $code = $self->compile_xp("ASPIRATE", 
                position => $step, 
                tip => $tip,
                chain => $code);
        $code = $self->compile_xp("DELAY", 
                msec => $delay, 
                tip => $tip,
                chain => $code);
        $code = $self->compile_xp("EXECUTE", 
                tip => $tip,
                chain => $code);
             
        $self->DATAPATH()->write($code) if $code;
        my $replyref = $self->DATAPATH()->EXPECT_RECV();
        if ($replyref) { 
            if ($Debug>1) { 
                my $debug_str = YAML::XS::Dump($replyref);
                $debug_str =~ s/\n/ /g;
                warn __PACKAGE__." expected reply $debug_str\n";
            }
            $reply = $self->DATAPATH()->read();
            warn __PACKAGE__." got reply ".
                    $self->decompile_reply_xp($reply). "\n" if $Debug;
            if ($reply =~ /^[^0]/) { 
                # command error
                carp "Robotics cmd error: $reply\n";
                return 0;       
            }
        }
    }
    return $self->decompile_reply_xp($reply);
}
sub tip_aspirate_type2 {
    my $self = shift;
    # Due to Tecan limitation on passing ASPIRATE and DISPENSE
    # through the named pipe, transmitting these commands do not work.
    # Use tip_dispense_type0 instead to talk directly to the
    #  Tecan syringe pump.
    if (0) { 
        my $motor = shift || "liha";
        my $tips = shift || "1";
        my $volume = shift || "10";
        my $location = shift || '"0C0810000000000000"';
        my $liquid = shift || "Water";
        my $grid = shift || "11";
        my $site = shift || "0";
        my $tipdist = shift || "1";
        my $flags = shift || "0";
        my $flagarg = shift || "";
         
        # ASPIRATE() 
        #  Example: Aspirate(7,">> MagBeads in Viscous Soln <<  23","BUFFER_UL",
        #       "BUFFER_UL","BUFFER_UL",0,0,0,0,0,0,0,0,0,11,0,1,"0C0870000000000000",0);
        # Example: Aspirate(85,"Water","5",0,"5",0,"5",0,"5",0,0,0,0,0,18,0,1,"0C08ˆ0000000000000",0);
         
        my $tipMask = _tipStringToMask8($tips);
        my @volumes = split(",", $volume . ",0,0,0,0,0,0,0,0,0,0");
        for $volume (0..7) {
            if ($volumes[$volume] > 0) { 
                $volumes[$volume] .= '"'. $volumes[$volume]. '"';   
            }
        }
        my $volumestring = join(",", @volumes[0..7]);
        my $wellstring = $location;
        my $loopoption = "0";
        my $loopname = "";
        my $loopaction = "";
        my $loopindex = "";
        if ($flags) { 
            $loopoption = $flags;
        }
         
        my $cmd = "B;ASPIRATE(";
        $liquid =~ s/"//g;
        $liquid = '"'. $liquid. '"';
        if ($loopoption > 0) {
                $cmd .= join(",", ($tipMask, $liquid, $volume, 
                       $grid, $site, $tipdist, $wellstring, 
                       $loopoption, $loopname, $loopaction, $loopindex)). ");";
        }
        else {
            $cmd .= join(",", ($tipMask, $liquid, $volume, 
                    $grid, $site, $tipdist, $wellstring, "0")). ");";
        }
        $self->Write($cmd);
        return $self->Read();
    }
    my $reply;
    return $reply;
}
sub tip_dispense_type2 {
    # Due to Tecan limitation on passing ASPIRATE and DISPENSE
    # through the named pipe, transmitting these commands do not work.
    # Use tip_dispense_type0 instead to talk directly to the
    #  Tecan syringe pump.
    if (0) { 
        my $motor = shift || "liha";
        my $tips = shift || "1";
        my $volume = shift || "10";
        my $location = shift || "0C0810000000000000";
        my $liquid = shift || "Water";
        my $grid = shift || "11";
        my $site = shift || "0";
        my $tipdist = shift || "1";
        my $flags = shift || "";
        my $flagarg = shift || "";
         
        # DISPENSE() 
        #  Example: Dispense(7,">> MagBeads in Viscous Soln <<  33",
        #       "SAMPLE_UL","SAMPLE_UL","SAMPLE_UL",0,0,0,0,0,0,0,0,0,11,1,1,"0C0870000000000000",0);
        my $tipMask = _tipStringToMask8($tips);
        my @volumes = split(",", $volume . "," x 7);
        my $volumestring = join(",", @volumes[0..7]);
        my $wellstring = $location;
        my $loopoption;
        my $loopname;
        my $loopaction;
        my $loopindex;
        if ($flags) { 
            $loopoption = $flags;
        }
        my $cmd = "B;DISPENSE(". join(",", ($tipMask, $liquid, $volume, 
                   $grid, $site, $tipdist, $wellstring));
        if ($loopoption > 0) {
            $cmd .= join(",", ($loopoption, $loopname, $loopaction, $loopindex));
        }
        else {
            $cmd .= "0";
        }
        $cmd .= ");";
         
    }
}
HideShow 16 lines of Pod
=head2 tip_dispense
Aspirate with coupled tips from named arm.  Use tip string to specify tips.
Specify volume and location, with optional liquid type, flags, etc.
Requires work table to be previously loaded.
Return status string.
May take time to complete.
=item named motor arm - string, motor name (default: "liha")
=item All other arguments (many) are the same as tip_aspirate.
=cut
sub tip_dispense {
    my $self = shift;
    my %param = @_;
    return $self->tip_dispense_type0(@_);
}
sub tip_dispense_type0 {
    my ($self, %params) = @_;
     
    my $motor = $params{"name"} || "liha";
    my $tips = $params{"tips"} || "1";
    my $volume = $params{"volume"} || "10";
    my $location = $params{"at"} || 0;
    my $liquid = $params{"liquid"} || "Water";
    my $grid = $params{"grid"} || "11";
    my $site = $params{"site"} || "0";
    my $tipdist = $params{"tipdistance"} || "1";
    my $flags = $params{"flags"} || "";
    my $flagarg = $params{"flagarg"} || "";
     
    my @tiparray = _tipStringToArray8($tips);
    my $reply;        
     
    for my $tip (@tiparray) { 
        my $code;
         
        my $position = $self->getPipettePosition(
                tip => $tip);
        if ($position < 0) { 
            warn __PACKAGE__. " bad tip position, ignoring operation\n";
            next;
        }
        my $step = $self->convertVolToSteps($volume);
        if ($step < 1) { 
            carp __PACKAGE__. " cant dispense $volume";
            return "";
        }
         
        my $newposition = $position - $step;
        # TODO: Add liquid property adjustments here
         
        if (!$self->checkPipetteSteps(
                tip => $tip,
                start => $position, 
                stop => $newposition, 
                dir => 'd')) {
            carp(__PACKAGE__. " plunger error, cant dispense $step steps");
            return "";
        }
         
        my ($ss, $se, $cutoff) = $self->getPipetteSpeed(tip => $tip);
        my $delay = $self->getPipetteDelay(tip => $tip);
         
        $code = $self->compile_xp("SET_SPEED_END", 
                speed => $se,
                tip => $tip);
        $code = $self-> compile_xp("SET_CUTOFF", 
                steps => $cutoff, 
                tip => $tip,
                chain => $code);
        $code = $self->compile_xp("DISPENSE", 
                position => $step, 
                tip => $tip,
                chain => $code);
        $code = $self->compile_xp("DELAY", 
                msec => $delay, 
                tip => $tip,
                chain => $code);
        $code = $self->compile_xp("EXECUTE", 
                tip => $tip,
                chain => $code);
        $self->DATAPATH()->write($code) if $code;
        my $replyref = $self->DATAPATH()->EXPECT_RECV();
        if ($replyref) { 
            if ($Debug>1) { 
                my $debug_str = YAML::XS::Dump($replyref);
                $debug_str =~ s/\n/ /g;
                warn __PACKAGE__." expected reply $debug_str\n";
            }
            $reply = $self->DATAPATH()->read();
            warn __PACKAGE__." got reply ".
                    $self->decompile_reply_xp($reply). "\n" if $Debug;
            if ($reply =~ /^[^0]/) { 
                # command error
                carp "Robotics cmd error: $reply\n";
                return 0;       
            }
        }
    }
    return $self->decompile_reply_xp($reply);
}
HideShow 12 lines of Pod
=head2 tip_set_supply
Set type and location for the supply of pipette tips.
Return status string.
Returns immediately.
=item (optional) type - numeric, 1-4 (default: 1)
=item (optional) grid - numeric, 1-99 (default: 1)
=item (optional) site - carrier location, 0-63 (default: 0)
=item (optional) position - rack position, 0-95 (default: 0)
=cut
sub tip_set_supply {
    my $self = shift;
    my $type = shift || "1";
    my $grid = shift || "1";
    my $site = shift || "0";
    my $position = shift || "0";
    # SET_DITI  [type;grid;site;position]
    #  Example: SET_DITI;1;32;0;0
        my $cmd = join(";", ("set_diti", $type, $grid, $site, $position));
    $self->Write($cmd);
        return $self->Read();
}
HideShow 10 lines of Pod
=head2 tip_query
Query next available tip location, given tip type.
Return query status string (example: "0;32;0;0")
Returns immediately.
=item type - numeric, 1-4 (default: 1)
=cut
sub tip_query {
    my $self = shift;
    my $type = shift || "1";
    # GET_DITI  [type]
    #  Example: GET_DITI;1
        my $cmd = join(";", ("get_diti", $type));
    $self->Write($cmd);
        return $self->Read();
}
HideShow 10 lines of Pod
=head2 tip_query_usage
Query usage of tip type.
Return tip usage string (example: "0;96")
Returns immediately.
=item (optional) type - numeric, 1-4 (default: 1)
=cut
sub tip_query_usage {
    my $self = shift;
    my $type = shift || "1";
    # GET_USED_DITIS  [type]
    #  Example: GET_USED_DITIS;1 
        my $cmd = join(";", ("get_used_ditis", $type));
    $self->Write($cmd);
        return $self->Read();
}
HideShow 9 lines of Pod
=head2 tip_pause
Pause pipetting if robotics is in the PIPETTING state.
No arguments.
Returns error if any.
Returns immediately (?).
=cut
sub tip_pause {
    my $self = shift;
    # PAUSE_PIPETTING 
    $self->Write("pause_pipetting");
        return $self->Read();
}
HideShow 14 lines of Pod
=head2 tip_couple
Connect pipetting tips to liquid handling arm.
=item (optional) Tips to use.  String, in the format: "1" or "2-5" or "1,4,8" or "all".  Default: "1"
=item (optional) Type of tip.  Numeric, 0-3, as defined in Tecan configuration MINUS ONE.  Default: 0
=item (optional) Operational flags.  Numeric.  0=none.  1=retry tip fetching up to 3 times at 
successive positions.  Default: 0
Returns error if any.
May take time to complete.
=cut
sub tip_coupleWorklist {
    my $self = shift;
    my $motor = shift || "liha";
    my $tiparg = shift || "1";
    my $type = shift || 0;
    my $flag = shift || 0;
         
    # GetDITI(1,0,0);  - connect a tip to pipette #1 (the first pipette)
        my $tipmask = _tipStringToMask8($tiparg);
        my $cmd = "B;GetDITI(". join(',', ($tipmask, $type, $flag)) . ");";
         
    #open(WORKLIST, ">/cygdrive/c/temp/genesis.gwl") || die;
    #print WORKLIST "$cmd\n";
    #close WORKLIST;
    $cmd = 'LOAD_WORKLIST;Worklist(0,c:\temp\genesis.gwl,15,"Water");'.
        'Wash(1,255,255,255,255,"2.0",500,"1.0",500,10,70,30,0,0,1000);';
         
    $self->Write($cmd);
        my $reply = $self->Read();
    sleep(5);
    return $reply;
}
HideShow 16 lines of Pod
=head2 tip_coupleFirmware
Couple (mechanically join) a pipetting tip(s) to liquid handling arm at the current arm position.
=item (optional) Tips to use.  String, in the format: "1" or "2-5" or "1,4,8" or "all".  Default: "1"
=item (optional) Type of tip.  Numeric, 0-3, as defined in Tecan configuration MINUS ONE.  Default: 0
=item (optional) Operational flags.  Numeric.  0=none.  1=retry tip fetching up to 3 times at 
successive positions.  Default: 1
Returns error if any.
May take time to complete.
See also: tip_uncouple
=cut
sub tip_coupleFirmware {
    my $self = shift;
    my $tiparg = shift || "1";
    my $type = shift || 0;
    my $flag = shift || 1;
         
    # GetDITI(1,0,0); 
        my $tipmask = _tipStringToMask8($tiparg);
        # use firmware cmd; example #A1AGT170,500,100
        my $cmd = "#A1AGT". join(',', ($tipmask, $type, $flag)) . ");";
    $self->Write($cmd);
        return $self->Read();
}
HideShow 13 lines of Pod
=head2 tip_uncoupleFirmware
Uncouple (mechanically unjoin) a pipetting tip(s) from liquid handling arm at the current arm position.
=item (optional) Tips to use.  String, in the format: "1" or "2-5" or "1,4,8" or "all".  Default: "1"
Returns error if any.
May take time to complete.
See also: tip_couple
=cut
sub tip_uncoupleFirmware { 
    my $self = shift;
    my $tiparg = shift || "1";
    my $type = shift || 0;
    my $flag = shift || 1;
         
    # GetDITI(1,0,0); 
        my $tipmask = _tipStringToMask8($tiparg);
        # use firmware cmd; example #A1ADT170
        my $cmd = "#A1AGT". $tipmask;
    $self->Write($cmd);
        return $self->Read();
}
HideShow 11 lines of Pod
=head2 _tipStringToMask8
Internal function.
Convert tip string into a numeric tip mask, where tips are numbered "1" to "8".
=item String: "1" or "2-6" or "2,4,1,7" or "1,5-8" or "all" (default: "1")
Returns: 8-bit numeric value.
=cut
sub _tipStringToMask8 {
    my $s = shift || "1";
     
    # tip 1 => return mask=1
    # tip 8 => return mask=128
    # tips 1-8 => return mask=255
     
    # base index = 1 for calling argument of 1-8 vs. index=0 for calling argument of 0-7
    return $s =~ m/all/i ? 255 : _convertStringRangeToMask8($s, 1);
}
sub _convertStringRangeToMask8 {  
        # arg0: string to parse,  "1" or "1,2,3" or "1-3" or "3-5,6,7-8"
        # arg1: index, 0 means bits are 0..7, 1 means bits are 1..8
        # returns: 8-bit number
        my $index = pop;
        my $s = shift; 
        $s =~ s/(\d+)-(\d+)/join ',', $1 .. $2/eg;
        return _convertArrayToMask8($s =~ /\d+/g, $index);
}
sub _convertArrayToMask8 {
        # arg0: numbers in array,  (1,4,8)
        # arg1: base index for bit number, 0 means bits are 0..7, 1 means bits are 1..8
        # error checking:  bit numbers outside 0+index .. 7+index are ignored
        # returns: 8-bit number
        my $n = 0;
        my $base = pop @_;
        my @bits = @_;
        $n |= 1 << ($_ - $base) for grep { $_ >= $base && $_ <= 7+$base } @bits;
        return $n;
}
sub _tipStringToArray8 {
    my $s = shift || "1";
     
    if ($s =~ /all/i) { 
        return (1,2,3,4,5,6,7,8);
    }
    $s =~ s/(\d+)-(\d+)/join ',', $1 .. $2/eg;
    return ($s =~ /\d+/g);
}
sub _convertWellToXY {
    my ($self, %param) = @_; 
    my %coord;
    if ($param{"wellname"}) { 
        ($coord{"x"}, $coord{"y"}) = 
                Robotics::convertWellStringToXY($param{"wellname"});
    }
    elsif ($param{"wellnum"}) { 
        ($coord{"x"}, $coord{"y"}) = 
                Robotics::convertWellNumberToXY($param{"wellnum"});
    }
    if ($coord{"x"} < 1 || $coord{"y"} < 1) { 
        carp "cant calculate well number from ". $param{"wellname"}. $param{"wellnum"};
        return undef;
    }
     
    # Set y-space from tip number, default tip=1
    $coord{"ys"} = $param{"tips"} || 1;
             
    return %coord;
}
HideShow 108 lines of Pod
=head3 Developer information: Example LIHA firmware commands
position at waste: 
    A1PAA875,2423,90,2100,2100,2100,2100,2100,2100,2100,2100
dispense:
        tip 1 : dispense 119.30<B5>l 12, 8 JC-Greiner V-Bottom [11,2]
                                    100.00<B5>l "Water" DITI <15 - 200<B5>l> Single
               "Water" =>     
                                     
                M1,GFC
                D1,V3600c2400D358M0R
                M1,GSC
aspirate:
        tip 1 : aspirate 104.30<B5>l  1, 7 Tube 13*100mm, 16 Pos. [8,1]
                                    100.00<B5>l ">> Water <<    10" DITI <15 - 200<B5>l>
         Single 
                M1,GFC
                D1,OV420P15M0R
                M1,GSC
                M1,GFC  
                D1,V600P313M200R
                M1,GSC
status?
> D1,Q0
< D1,0,448
flush:
    D1,IV5400P3000OA0R
     
     
initialize:
    A1,PAA45,1031,90,2080,2080,2080,2080,2080,2080,2080,2080
    D1,YIP100OS9OD100R
     
Sequence to position at well1, aspirate, dispense, position at waste:
>COMMAND;A1PAA2612,743,90,670,2080,2080,2080,2080,2080,2080,2080
>COMMAND;D1Q0
>COMMAND;D1V3600c2400P358M0R
>COMMAND;D1Q0
>COMMAND;A1PAA2612,743,90,720,2080,2080,2080,2080,2080,2080,2080
>COMMAND;D1Q0
>COMMAND;D1V3600c2400D358M0R
>COMMAND;D1Q0
>COMMAND;A1PAA875,2423,90,2100,2100,2100,2100,2100,2100,2100,2100
? P = move relative plunger (pick liquid)
? I = turn valve to input
? O = turn valve to output
? D = move relative plunger (dispense liquid)
? c = set plunger stop speed (=SPP)
? V = set plunger drive end speed (=SEP)
R = execute command(s)
M = delay (milliseconds)
Dispense command sequence for tests:
    The following has "no reply from GSC, pipe seems hung" bug:
            A1PAA2612,743,90,695,2080,2080,2080,2080,2080,2080,2080
            M1GFC
            D1Q0
            D1V3600c2400D358M0R
            D1Q0
            M1GSC
             
    The following works OK:
     
            A1PAA2612,743,90,670,2080,2080,2080,2080,2080,2080,2080 
            D1Q0
            D1V3600c2400P358M0R
            D1Q0
            A1PAA2612,743,90,720,2080,2080,2080,2080,2080,2080,2080
            D1Q0
            D1V3600c2400D358M0R
            D1Q0
            A1PAA875,2423,90,2100,2100,2100,2100,2100,2100,2100,2100
             
Aspirate command sequence for tests:
    # XXX
    # XXX "GSC" command does not seem to transmit through named pipe?
    # XXX
            #M1GFC
            #D1Q0
            #D1OV420P15M0R
            #D1Q0
            #M1GSC
             
            A1PAA2612,743,90,695,2080,2080,2080,2080,2080,2080,2080
            M1GFC   
            D1Q0
            D1V600P313M200R
            D1Q0
            M1GSC
     
    A1PAA2612,743,90,695,2080,2080,2080,2080,2080,2080,2080
    D1Q0
    D1V600P313M200R
    D1Q0
=cut
  
1; # End of Robotics::Tecan::Genesis::Liha
__END__