//– Dispense back into vessel and then pipette nothing
//– Ignore clot error and continue
//– Discard the DITI and pipette nothing
private void ProcessClot(Labware labware, int wellID, double volume, LiquidClass liquidClass, out PipettingResult pipettingResult, string barcode = "")
{
string labwareLabel = labware.Label;
ClotDetectedForm clotForm = new ClotDetectedForm();
clotForm.ShowDialog();
e_RSPErrorCode res = e_RSPErrorCode.RSP_ERROR_NONE;
var userSelection = clotForm.UserSelection;
pipettingResult = PipettingResult.ok;
DitiTrackInfo trackInfo = new DitiTrackInfo(Labware.WasteLabel, 1, true, false);
switch (userSelection)
{
case ClotDetectedAction.dispenseBackThenDropDiti:
pipettingResult = PipettingResult.clotDispenseBack;
res = MoveController.Instance.Move2Z(_eARM.左臂, labware.ZValues.ZDispense);
ThrowCriticalException(res, "遇到凝块，移动到ZDispense");
res = MoveController.Instance.Dispense(volume + excessVolume, liquidClass.AspirationSinglePipetting.AspirationSpeed, startSpeedV, endSpeedV);
ThrowCriticalException(res, "遇到凝块，打回容器");
DropTip(out trackInfo);
break;
case ClotDetectedAction.dropDiti:
pipettingResult = PipettingResult.clotDropDiti;
DropTip(out trackInfo);
break;
case ClotDetectedAction.ignore:
pipettingResult = PipettingResult.clotIgnore;
break;
}
}
private void OnLayoutEditorEditWare(object sender, WareBase e)
{
if (e is Labware)
{
Labware labware = e as Labware;
if (this.ActivateEditingTab(labware.TypeName))
{
return;
}
LabwareEditor editor = new LabwareEditor(AddInfo, this);
editor.DataContext = labware;
this.AddTabItem(editor);
}
else if (e is Carrier)
{
Carrier carrier = e as Carrier;
if (this.ActivateEditingTab(carrier.TypeName))
{
return;
}
CarrierEditor editor = new CarrierEditor(AddInfo);
editor.DataContext = carrier;
this.AddTabItem(editor);
}
else
{
// Bad argument
}
}
private void DeleteLabware_Executed(object sender, ExecutedRoutedEventArgs e)
{
Labware selectedLW = (Labware)this.lb_labwares.SelectedItem;
PipettorElementManager.Instance.DeletePipettorElement <Labware>(selectedLW.TypeName);
DeleteTabItem(selectedLW.TypeName);
}
public PipettingCommandEidtor(Labware selectedLabware, bool isAspirate)
{
_labware = selectedLabware;
InitializeComponent();
this.Loaded += PipettingCommandEidtor_Loaded;
SetCaption(isAspirate);
}
private bool TryDetectLiquid(Labware labware)
{
const int mmPerSecond = 50;
var res = MoveController.Instance.DetectLiquid(labware.ZValues.ZStart, labware.ZValues.ZMax, mmPerSecond);
return(res == e_RSPErrorCode.RSP_ERROR_NONE);
}
public static void MountThis(BasewareUIElement baseUIElement, Point position, Grid container, Layout workingLayout)
{
bool bValid = IsValid(baseUIElement, position, container);
if (!bValid)
{
if (baseUIElement is LabwareUIElement) //if labware has parent, let it go back
{
LabwareUIElement labwareUIElement = (LabwareUIElement)baseUIElement;
if (labwareUIElement.Labware.ParentCarrier != null)
{
return;
}
}
container.Children.Remove(baseUIElement);
if (baseUIElement is CarrierUIElement)
{
RemoveUIElementsOnCarrier(container, baseUIElement as CarrierUIElement);
}
baseUIElement = null;
return;
}
int grid = VisualCommon.FindCorrespondingGrid(position.X);
if (baseUIElement is CarrierUIElement)
{
CarrierUIElement carrierUIElement = (CarrierUIElement)baseUIElement;
carrierUIElement.Grid = grid;
}
if (baseUIElement is LabwareUIElement)
{
LabwareUIElement labwareUIElement = (LabwareUIElement)baseUIElement;
Labware labware = labwareUIElement.Labware;
CarrierUIElement carrierUIElement = null;
int siteID = -1;
bool bFound = FindSuitableCarrier(position, labware.TypeName, container, ref carrierUIElement, ref siteID);
if (bFound)
{
if (labware.ParentCarrier != null)
{
labware.ParentCarrier.Labwares.Remove(labware);
}
labware.SiteID = siteID;
if (labware.IsDitiBox)
{
var ditiInfo = workingLayout.DitiInfo.DitiBoxInfos.Find(x => x.label == labware.Label);
if (ditiInfo == null)
{
DitiType ditiType = DitiBox.Parse(labware.TypeName);
workingLayout.DitiInfo.DitiBoxInfos.Add(new DitiBoxInfo(ditiType, labware.Label, 96));
}
}
}
carrierUIElement.Carrier.AddLabware(labware);
}
}
public DitiEditor(Labware selectedLabware, Layout layout)
{
_layout = layout;
_labware = selectedLabware;
InitializeComponent();
this.Loaded += DitiEidtor_Loaded;
SetOk = false;
}
private void NewLabware_Executed(object sender, ExecutedRoutedEventArgs e)
{
Labware labware = new Labware();
LabwareEditor editor = new LabwareEditor(AddInfo, this);
editor.DataContext = labware;
this.AddTabItem(editor);
}
private void DuplicateLabware_Executed(object sender, ExecutedRoutedEventArgs e)
{
Labware labware = ((Labware)this.lb_labwares.SelectedItem).Clone() as Labware;
LabwareEditor editor = new LabwareEditor(AddInfo, this);
editor.DataContext = labware;
this.AddTabItem(editor);
}
/// <summary>
/// ctor
/// </summary>
/// <param name="labware"></param>
/// <param name="boundingSize"></param>
public LabwareUIElementFixedSize(Labware labware, Size boundingSize)
{
this._labware = labware;
UpdateContainerSize(boundingSize);
AddWellVisuals();
_singleSelection = new SingleSelection(wellVisuals, _tightBoundingRect, _labware);
this.MouseMove += LabwareUIElementFixedSize_MouseMove;
this.MouseUp += LabwareUIElementFixedSize_MouseUp;
}
/// <summary>
/// ctor
/// </summary>
/// <param name="labware"></param>
public LabwareUIElement(Labware labware) : base((WareBase)labware)
{
this._labware = labware;
_children.Add(CreateViusal());
AspirateWellIDs = new List <int>();
DispenseWellIDs = new List <int>();
timer.Elapsed += timer_Elapsed;
timer.Start();
}
private void DoTracking(Labware labware, double volume, LiquidClass liquidClass)
{
double crossSectionArea = labware.WellsInfo.WellRadius * labware.WellsInfo.WellRadius * Math.PI;
double distance2Go = volume / crossSectionArea;
double seconds = volume / liquidClass.AspirationSinglePipetting.AspirationSpeed;
double goDownSpeed = distance2Go / seconds;
var res = MoveController.Instance.MoveZAtSpeed(_eARM.左臂, distance2Go, goDownSpeed);
ThrowCriticalException(res, "液面跟随！");
}
private void OnLabwareXmlFileCreated(object sender, FileSystemEventArgs e)
{
Labware labware = this.CreatedPipettorElement.Pop() as Labware;
if (labware == null)
{
throw new InvalidOperationException("Labware instance was supposed to be existing.");
}
this._labwares.Add(e.FullPath, labware);
this.PropertyChanged(this, new PropertyChangedEventArgs("Labwares"));
}
private static void RemoveLabware(Grid container, Labware labware)
{
for (int i = 0; i < container.Children.Count; i++)
{
if (container.Children[i] is LabwareUIElement)
{
if (((LabwareUIElement)container.Children[i]).Labware.Equals(labware))
{
container.Children.RemoveAt(i);
}
}
}
}
private void SetDitiPosition_CanExecute(object sender, CanExecuteRoutedEventArgs e)
{
if (e.Parameter is Labware)
{
Labware labware = e.Parameter as Labware;
if (labware.IsDitiBox)
{
e.CanExecute = true;
return;
}
}
e.CanExecute = false;
}
public void CarrierWithLabwaresSerializationTest()
{
Carrier carrier = new Carrier();
carrier.Dimension.XLength = 40;
carrier.Dimension.YLength = 500;
//carrier.AllowedLabwareType = 2;
carrier.GridID = 1;
#region Labware1
Labware labware1 = new Labware();
//labware1.Name = "Labware1";
//labware1.XLength = 85;
//labware1.YLength = 125;
//labware1.Height = 45;
//labware1.WellRadius = 4;
//labware1.NumberOfWellsX = 8;
//labware1.NumberOfWellsY = 12;
//labware1.FirstWellPosition = new Point(8, 10);
//labware1.LastWellPosition = new Point(78, 118);
//labware1.ZTravel = 4200;
//labware1.ZStart = 4000;
//labware1.ZDispense = 3500;
//labware1.ZMax = 50;
carrier.AddLabware(labware1);
#endregion
#region Labware2
Labware labware2 = new Labware();
//labware2.Name = "Labware2";
//labware2.XLength = 85;
//labware2.YLength = 125;
//labware2.Height = 45;
//labware2.WellRadius = 4;
//labware2.NumberOfWellsX = 8;
//labware2.NumberOfWellsY = 12;
//labware2.FirstWellPosition = new Point(8, 10);
//labware2.LastWellPosition = new Point(78, 118);
//labware2.ZTravel = 4200;
//labware2.ZStart = 4000;
//labware2.ZDispense = 3500;
//labware2.ZMax = 50;
carrier.AddLabware(labware2);
#endregion
string xmlFileName = Path.Combine(UnitTestHelper.GetTestModuleDirectory(), "testresult", "CarrierWithLabwaresSerializeTest.xml");
SerializationHelper.Serialize <Carrier>(xmlFileName, carrier);
Carrier carrier_deserialized = SerializationHelper.Deserialize <Carrier>(xmlFileName);
}
private void btnNewLabware_Click(object sender, RoutedEventArgs e)
{
Labware labware = new Labware();
labware.ZValues = new ZValues(360, 625, 665, 1610);
labware.Dimension = new Dimension(25, 305);
labware.TypeName = "lab1";
labware.SiteID = 1;
labware.WellsInfo = new WellsInfo(0, -3.2, 0, 278.8, 1, 16, BottomShape.Flat, 50);
labware.TypeName = LabwareBuildInType.Tubes16Pos13_100MM.ToString();
labware.BackgroundColor = Color.FromArgb(255, 255, 0, 0);
labware.ParentCarrier = null;
//layoutEditor.AddCandidate(new LabwareUIElement(labware));
UserControlContainer.InvalidateVisual();
}
private void EditLabware_Executed(object sender, ExecutedRoutedEventArgs e)
{
Labware selectedLabware = e.Parameter != null? (Labware)e.Parameter: (Labware)this.lb_labwares.SelectedItem;
if (selectedLabware == null || this.ActivateEditingTab(selectedLabware.TypeName))
{
return;
}
LabwareEditor editor = new LabwareEditor(AddInfo, this);
selectedLabware.CalculatePositionInLayout();
editor.DataContext = selectedLabware;
this.AddTabItem(editor);
}
private bool IsEnoughLiquid(Labware labware, double volume, int subMergeMM)
{
double x, y, z;
x = y = z = 0;
MoveController.Instance.GetCurrentPosition(_eARM.左臂, ref x, ref y, ref z);
if (x == -1 || y == -1 || z == -1)
{
throw new CriticalException("无法获取到位置！");
}
double crossSectionArea = labware.WellsInfo.WellRadius * labware.WellsInfo.WellRadius * Math.PI;
double zMax = labware.ZValues.ZMax; //mm
return(crossSectionArea * (zMax - z - subMergeMM) > volume);
}
void PipettingEditorTestharness_Loaded(object sender, RoutedEventArgs e)
{
Labware labware1 = new Labware();
labware1.ZValues = new ZValues(360, 625, 665, 1610);
labware1.Dimension = new Dimension(127, 85.5);
labware1.TypeName = "16Pos Tubes";
labware1.Label = "lab1";
labware1.SiteID = 1;
labware1.WellsInfo = new WellsInfo(14.4, 11.5, 99 + 14.4, 74.5, 12, 8, BottomShape.Flat, 4);
labware1.TypeName = LabwareBuildInType.Plate96_05ML.ToString();
labware1.BackgroundColor = Color.FromArgb(255, 255, 0, 0);
labware1.ParentCarrier = null;
container.Children.Add(new PipettingCommandEidtor(labware1, false));
}
public void CarrierSerializeToXmlFileWithLabwaresTest()
{
Carrier carrier = new Carrier();
carrier.Dimension.XLength = 40;
carrier.Dimension.YLength = 500;
carrier.GridID = 3;
carrier.Sites.Add(new Site(0, 0, 0, 10, 10, 1));
Labware labware1 = new Labware();
labware1.Label = "Labware1";
labware1.Dimension.XLength = 85;
labware1.Dimension.YLength = 125;
labware1.WellsInfo.WellRadius = 4;
labware1.WellsInfo.NumberOfWellsX = 8;
labware1.WellsInfo.NumberOfWellsY = 12;
labware1.WellsInfo.FirstWellPositionX = 8;
labware1.WellsInfo.FirstWellPositionY = 10;
labware1.WellsInfo.LastWellPositionX = 78;
labware1.WellsInfo.LastWellPositionX = 118;
labware1.ZValues.ZTravel = 4200;
labware1.ZValues.ZStart = 4000;
labware1.ZValues.ZDispense = 3500;
labware1.ZValues.ZMax = 50;
carrier.AddLabware(labware1);
Labware labware2 = new Labware();
labware2.Label = "Labware2";
labware2.Dimension.XLength = 85;
labware2.Dimension.YLength = 125;
labware2.WellsInfo.WellRadius = 4;
labware2.WellsInfo.NumberOfWellsX = 8;
labware2.WellsInfo.NumberOfWellsY = 12;
labware1.WellsInfo.FirstWellPositionX = 8;
labware1.WellsInfo.FirstWellPositionY = 10;
labware1.WellsInfo.LastWellPositionX = 78;
labware1.WellsInfo.LastWellPositionX = 118;
labware2.ZValues.ZTravel = 4200;
labware2.ZValues.ZStart = 4000;
labware2.ZValues.ZDispense = 3500;
labware2.ZValues.ZMax = 50;
carrier.AddLabware(labware2);
carrier.Serialize(this._xmlFileWithLabwarePath);
}
private void CreateTwoLabwares()
{
Labware labware1 = new Labware();
labware1.ZValues = new ZValues(360, 625, 665, 1610);
labware1.Dimension = new Dimension(25, 305);
labware1.Label = "lab1";
labware1.SiteID = 1;
labware1.WellsInfo = new WellsInfo(0, -3.2, 0, 278.8, 1, 16, BottomShape.Flat, 5);
labware1.TypeName = LabwareBuildInType.Tubes16Pos13_100MM.ToString();
labware1.BackgroundColor = Color.FromArgb(255, 255, 0, 0);
labware1.ParentCarrier = null;
Labware labware2 = new Labware();
labware2.ZValues = new ZValues(360, 625, 665, 1610);
labware2.Dimension = new Dimension(127, 85.5);
labware2.Label = "lab2";
labware2.SiteID = 1;
labware2.WellsInfo = new WellsInfo(2.4, 2.9, 101.4, 60.9, 12, 8, BottomShape.Flat, 3.3);
labware2.TypeName = LabwareBuildInType.Plate96_05ML.ToString();
labware2.BackgroundColor = Color.FromArgb(255, 255, 0, 0);
labware2.ParentCarrier = null;
Labware labware3 = new Labware();
labware3.ZValues = new ZValues(360, 625, 665, 1610);
labware3.Dimension = new Dimension(127, 85.5);
labware3.Label = "lab3";
labware3.SiteID = 1;
labware3.WellsInfo = new WellsInfo(2.4, 2.9, 101.4, 60.9, 6, 4, BottomShape.Flat, 6.0);
labware3.TypeName = LabwareBuildInType.Plate24_2ML.ToString();
labware3.BackgroundColor = Color.FromArgb(255, 100, 255, 0);
labware3.ParentCarrier = null;
Carrier carrier1 = new Carrier(BuildInCarrierType.MP_3POS);
Carrier carrier2 = new Carrier(BuildInCarrierType.Tube13mm_16POS);
wares.Add(labware1);
wares.Add(labware2);
wares.Add(labware3);
wares.Add(carrier1);
wares.Add(carrier2);
lstboxLabwares.ItemsSource = wares;
}
/// <summary>
/// update the ware, once it has been changed in editor
/// </summary>
/// <param name="ware"></param>
public void UpdateWare(WareBase ware)
{
List <BasewareUIElement> thisTypeUIElements = FindUIElement(ware.TypeName);
if (thisTypeUIElements.Count == 0)
{
return;
}
if (ware.GetType() == typeof(Carrier))
{
Carrier carrier = (Carrier)ware;
thisTypeUIElements.ForEach(x => UpdateCarrier(carrier, (CarrierUIElement)x));
}
else
{
Labware labware = (Labware)ware;
thisTypeUIElements.ForEach(x => ReplaceLabware(labware, (LabwareUIElement)x));
}
}
void MainWindow_Loaded(object sender, RoutedEventArgs e)
{
Labware labware1 = new Labware();
labware1.ZValues = new ZValues(360, 625, 665, 1610);
labware1.Dimension = new Dimension(1270, 855);
labware1.TypeName = "16Pos Tubes";
labware1.Label = "lab1";
labware1.SiteID = 1;
labware1.WellsInfo = new WellsInfo(144, 115, 990 + 144, 745, 12, 8, BottomShape.Flat, 40);
labware1.TypeName = LabwareBuildInType.Plate96_05ML.ToString();
labware1.BackgroundColor = Color.FromArgb(255, 255, 0, 0);
labware1.ParentCarrier = null;
LabwareUIElementFixedSize labwareUIElement = new LabwareUIElementFixedSize(labware1, new Size(400, 400));
grid1.Children.Add(labwareUIElement);
this.MouseMove += MainWindow_MouseMove;
}
/// <summary>
/// create UIElement
/// </summary>
/// <param name="wareBase"></param>
/// <param name="existingUIElements"/>
/// <returns></returns>
public static BasewareUIElement CreateUIElement(WareBase wareBase, UIElementCollection existingUIElements)
{
BasewareUIElement newUIElement;
if (wareBase is Labware)
{
Labware labware = ((Labware)wareBase).Clone() as Labware;
List <string> existingLabels = GetExistingLabels(existingUIElements);
string newLabel = FindNextLabelName(existingLabels);
labware.Label = newLabel;
newUIElement = new LabwareUIElement(labware);
}
else
{
Carrier carrier = ((Carrier)wareBase).Clone() as Carrier;
newUIElement = new CarrierUIElement((Carrier)carrier);
}
newUIElement.Selected = true;
return(newUIElement);
}
/// <summary>
/// Draw the worktable with pins, and the current DitiBox
/// </summary>
/// <param name="drawingContext"></param>
public void Draw(DrawingContext drawingContext)
{
for (int i = 0; i < worktable.GridCount; i++)
{
DrawPinsSameGrid(i, drawingContext);
}
DrawBorder(worktable.Size, drawingContext);
//if(layout.DitiInfo.DitiInfoItems.Count !=)
foreach (var ditiBoxInfo in layout.DitiInfo.DitiBoxInfos)
{
Labware labware = layout.FindLabware(ditiBoxInfo.label);
if (labware != null)
{
labware.CalculatePositionInLayout();
var position = labware.GetAbsPosition(96);
position.X += 18;
VisualCommon.DrawCircle(position, 6, drawingContext, Colors.Red, true);
}
}
}
private void SetDitiPosition_Executed(object sender, ExecutedRoutedEventArgs e)
{
LayoutEditor layoutEditor = GetLayoutEditor();
if (layoutEditor == null)
{
AddErrorInfo("找不到布局！");
return;
}
Labware labware = e.Parameter as Labware;
DitiEditor ditiEditor = new DitiEditor(labware, layoutEditor.Layout);
ditiEditor.ShowDialog();
if (!ditiEditor.SetOk)
{
return;
}
var ditibox = layoutEditor.Layout.DitiInfo.DitiBoxInfos.Find(x => x.label == labware.Label);
ditibox.count = ditiEditor.RemainTipCount;
}
public Labware CreateDiti1000(string label, int site)
{
Labware labware = new Labware();
labware.TypeName = LabwareBuildInType.Diti1000.ToString();
labware.Dimension.XLength = 125.5;
labware.Dimension.YLength = 85;
labware.WellsInfo.WellRadius = 4;
labware.WellsInfo.NumberOfWellsX = 8;
labware.WellsInfo.NumberOfWellsY = 12;
labware.WellsInfo.FirstWellPositionX = 8;
labware.WellsInfo.FirstWellPositionY = 10;
labware.WellsInfo.LastWellPositionX = 78;
labware.WellsInfo.LastWellPositionX = 118;
labware.SiteID = site;
labware.ZValues.ZTravel = 300;
labware.ZValues.ZStart = 600;
labware.ZValues.ZDispense = 1000;
labware.ZValues.ZMax = 1600;
labware.Label = label;
return(labware);
}
public void LabwareSerializeToXmlFileTest()
{
Labware labware = new Labware();
labware.TypeName = "LabwareSerializeTest";
labware.Dimension.XLength = 800;
labware.Dimension.YLength = 125;
labware.WellsInfo.WellRadius = 4;
labware.WellsInfo.NumberOfWellsX = 8;
labware.WellsInfo.NumberOfWellsY = 12;
labware.WellsInfo.FirstWellPositionX = 8;
labware.WellsInfo.FirstWellPositionY = 10;
labware.WellsInfo.LastWellPositionX = 78;
labware.WellsInfo.LastWellPositionX = 118;
labware.ZValues.ZTravel = 300;
labware.ZValues.ZStart = 600;
labware.ZValues.ZDispense = 1000;
labware.ZValues.ZMax = 1600;
labware.Serialize(this._xmlFilePath);
}
void LabwareEditor_Loaded(object sender, RoutedEventArgs e)
{
try
{
TeachingControllerDelegate.Instance.Controller.Init();
}
catch (CriticalException ex)
{
if (ex.Message == "Send_fail")
{
MessageBox.Show("初始化失败，可能是机器未通电");
}
}
labware = this.DataContext as Labware;
int index = -1;
if (labware.ParentCarrier != null)
{
int tempIndex = 0;
foreach (var carrier in labware.AllCarriers)
{
if (carrier.TypeName == labware.ParentCarrier.TypeName)
{
index = tempIndex;
break;
}
}
if (index != -1)
{
cmbCalibCarrier.SelectedIndex = index;
}
}
labware.CalculatePositionInLayout();
GetCurrentPositon();
curPositionPanel.DataContext = xyz;
StartCheckingInput();
}
