public void Dispense(string labwareLabel, List <int> wellIDs, List <double> volumes, LiquidClass liquidClass, out PipettingResult pipettingResult, string barcode = "")
{
int wellID = wellIDs.First();
double volume = Math.Round(volumes.First(), 1);
string sWellID = wellID.ToString();
string sCommandDesc = string.Format("Dispense to:{0} at:{1} volume:{2},{3}", labwareLabel, wellID, volume, liquidClass);
log.InfoFormat(sCommandDesc);
//air gap
int airGap = liquidClass.AspirationSinglePipetting.TrailingAirgap + liquidClass.AspirationSinglePipetting.LeadingAirgap;
volume += airGap;
Move2Position(labwareLabel, wellID);
Move2Position(labwareLabel, wellID, "ZDispense");
var res = MoveController.Instance.Dispense(volume, maxSpeedV, startSpeedV, endSpeedV);
pipettingResult = res == e_RSPErrorCode.RSP_ERROR_NONE ? PipettingResult.ok : PipettingResult.abort;
PipettingTrackInfo pipettingTrackInfo = new PipettingTrackInfo(labwareLabel, sWellID, volume, pipettingResult, barcode, false);
ThrowCriticalException(res, "喷液");
Move2Position(labwareLabel, wellID);
}
private bool RunLihaCommand(ILiquidHandlerCommand machineCommand)
{
if (hardwareController.Liha.IsTipMounted)
{
DitiTrackInfo trackInfo = null;
hardwareController.Liha.DropTip(out trackInfo);
}
LihaCommand lihaCommand = machineCommand as LihaCommand;
DitiTrackInfo ditiTrackInfos = null;
hardwareController.Liha.GetTip(new List <int>()
{
1
}, lihaCommand.ditiType, out ditiTrackInfos);
OnCommandExecuted(ditiTrackInfos);
if (NeedPauseOrStop())
{
return(true);
}
var liquidClass = PipettorElementManager.Instance.LiquidClasses.First(x => x.SaveName == lihaCommand.liquidClass);
PipettingResult pipettingResult = PipettingResult.ok;
hardwareController.Liha.Aspirate(lihaCommand.srcLabware, new List <int>()
{
lihaCommand.srcWellID
}, new List <double>()
{
lihaCommand.volume
}, liquidClass, out pipettingResult);
PipettingTrackInfo aspTrackInfo = new PipettingTrackInfo(lihaCommand.srcLabware, LihaCommand.GetWellDesc(lihaCommand.srcWellID), lihaCommand.volume, pipettingResult, lihaCommand.barcode);
OnCommandExecuted(aspTrackInfo);
if (NeedPauseOrStop())
{
return(true);
}
if (pipettingResult == PipettingResult.ok ||
pipettingResult == PipettingResult.air ||
pipettingResult == PipettingResult.clotIgnore ||
pipettingResult == PipettingResult.zmax)
{
pipettingResult = PipettingResult.ok;
hardwareController.Liha.Dispense(lihaCommand.dstLabware, new List <int>()
{
lihaCommand.dstWellID
}, new List <double>()
{
lihaCommand.volume
}, liquidClass, out pipettingResult);
var dispTrackInfo = new PipettingTrackInfo(lihaCommand.dstLabware, LihaCommand.GetWellDesc(lihaCommand.dstWellID), lihaCommand.volume, pipettingResult, lihaCommand.barcode, false);
OnCommandExecuted(dispTrackInfo);
}
if (NeedPauseOrStop())
{
return(true);
}
DitiTrackInfo ditiTrackInfo = null;
hardwareController.Liha.DropTip(out ditiTrackInfo);
OnCommandExecuted(ditiTrackInfo);
return(false);
}
