SharpHamilton

C# library to control Hamilton STAR line.

With SharpHamilton, application which used Hamilton STAR line (STAR/STARlet/STAR plus/STAR vantage) can be developed with totally C# code, instead of method/hsl and C# code of application software. Which can make programming and maintenance much easier.

SharpHamilton support Venus 4.4 to 6, it also support Vantage in Venus 6.

Disclaimer SharpHamilton is not officially endorsed or supported by the Hamilton Company. Please used it for test only.

Test it in RoslynPad

We integrated this tool to RoslynPad, you can write C# script to control STAR/STARlet/STARplus, please download it from following link.

Why did we developed it?

To simplify application development with Hamilton STAR line. Read more

Document

Document online available

Features

Control STARlet/STAR/STAR plus/Vantage with pure C# code
No dependency without method or hsl file
Support venus-styled error handling
Support fully manipulation of deck layout, rack and container
Low cost and high performance for no HxRun running and no inter process communiation between application and COM in HxRun
Support sequence and smart step, you can write venus styled script
Support venus from 4.4 to 6
Support windows xp/7/10/11

Progress

Deck layout: labware manipulation and volume computation
Sequence: use sequence in single step and smart step
Master Module: Initialize, Door, Firmware, Query carrier presence on deck
Arm: movemet of dual arm
Channel: Tip pickup, tip eject, aspirate, dispense, move, get last liquid level, set tip tracking speed, get exclude state, wait for TADM upload, ADC/MAD control. Smart steps like venus were finished
CORE-gripper
Autoload (under development)
5ml Channel (under development)
5ml CORE-gripper (under development)
iSWAP (under development)
MPH 96 (under development)
MPH 384 (under development)
Heater Shaker (under development)
Centrifuge (under development)

Example

monitoring instrument connection status

STARDiscover discover = new STARDiscover();
discover.OnConnect += Discover_OnConnect;
discover.OnDisconnect += Discover_OnDisconnect;
discover.OnReceive += Discover_OnReceive;
discover.Start();

discover.Stop();
discover.OnConnect -= Discover_OnConnect;
discover.OnDisconnect -= Discover_OnDisconnect;
discover.OnReceive -= Discover_OnReceive;
discover.Dispose();
discover = null;

manipulation of deck layout, use array of containers instead of sequence

var labwPath = STARRegistry.LabwarePath;
ML_STAR.Deck.AddLabwareToDeckSite(Path.Combine(labwPath, @"ML_STAR\SMP_CAR_32_12x75_A00.rck"), "1T-7", "Smp");
var smp = ML_STAR.Deck["Smp"].Containers;
var samples = new Container[] { smp["1"], smp["2"], smp["3"], smp["4"], smp["5"], smp["6"], smp["7"], smp["8"] };

You can still use sequence defined in deck layout, or generate sequence from rack.

var samples=ML_STAR.GetSequence("Sample");

Both sequence or array of containers can be used for pipetting or tip handling. So you can programe with sequence like in Venus to control STAR,

ML_STAR = new STARCommand();
ML_STAR.Init(deck, hwnd, false);
ML_STAR.Start();
ML_STAR.Initialize();
while(samples.Current!=-1){
    ML_STAR.Channel.PickupTip(tips);
    ML_STAR.Channel.Aspirate(samples, 150, aspParam);
    ML_STAR.Channel.Dispense(samples2, 150, dispParam);
    ML_STAR.Channel.EjectTip();
}
ML_STAR.End();

or you can write script with smart step, only one step to finish the works above

using Huarui.STARLine.SmartStep;
ML_STAR.Simple(samples, samples2, 150, parameter, dparameter, tip);

and you can use array of container for single step.

venus-styled error handling. If recovery was set to cancel, the error will be throwed as STARException

ErrorRecoveryOptions options = new ErrorRecoveryOptions();
options.Add(MainErrorEnum.InsufficientLiquidError, new ErrorRecoveryOption() { Recovery = RecoveryAction.Bottom });
ML_STAR.Channel.Aspirate(smples, 150, aspParam, AspirateMode.Aspiration, options);

get last liquid level and compute its volume

var levels = ML_STAR.Channel.GetLastLiquidLevel();
for(int i = 0; i < ML_STAR.Channel.Count; i++)
{
    var volume = samples[i].ComputeVolume(levels[i] - samples[i].Z);
    Console.WriteLine($"volume for sample {samples[i].Position} is {volume}");
}

set tip tracking speed

ML_STAR.Channel.SetTipTrackSpeed(2);

turn on anti-droplet control and clot detection with MAD

ML_STAR.Channel.AntiDropletControl = true;
ML_STAR.Channel.AspirationMonitoring = true;

Fix WinForm control size changed when using SharpHamilton

disable the auto-resizing feature, add following code to app.confg

<configuration>
  <!-- ... other xml settings ... -->

  <System.Windows.Forms.ApplicationConfigurationSection>
    <add key="DpiAwareness" value="PerMonitorV2" />
    <add key="EnableWindowsFormsHighDpiAutoResizing" value="false" />
  </System.Windows.Forms.ApplicationConfigurationSection>

</configuration>

3D Simulation (under development)

runSim2.mp4

weihuajiang/SharpHamilton