private string TranslateResult(PipettingResult result)
{
string s = "";
switch (result)
{
case PipettingResult.abort:
s = "中止！";
break;
case PipettingResult.air:
s = "吸空气";
break;
case PipettingResult.nothing:
s = "跳过";
break;
case PipettingResult.ok:
s = "";
break;
case PipettingResult.zmax:
s = "zMax";
break;
}
return(s);
}
public PipettingTrackInfo(string labware, string wellID,
double volume, PipettingResult result, string barcode = "", bool isAsp = true)
{
this.labware = labware;
this.wellID = wellID;
this.volume = volume;
this.result = result;
this.isAsp = isAsp;
this.barcode = barcode;
}
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);
}
//– 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;
}
}
public void Aspirate(string labwareLabel, List <int> wellIDs, List <double> volumes, LiquidClass liquidClass, out PipettingResult pipettingResult, string barcode = "")
{
string errMsg = "";
pipettingResult = PipettingResult.ok;
int wellID = wellIDs.First();
double volume = volumes.First();
double leadingAirGap = liquidClass.AspirationSinglePipetting.LeadingAirgap;
string sCommandDesc = string.Format("Aspirate volume:{0} from:{1} in:{2},lc:{3}", volume, wellID, labwareLabel, liquidClass.SaveName);
log.Info(sCommandDesc);
Move2Position(labwareLabel, wellID);
var labware = layout.FindLabware(labwareLabel);
Move2Position(labwareLabel, wellID, "ZStart");
//aspirate air gap
var res = MoveController.Instance.Aspirate(leadingAirGap, maxSpeedV, startSpeedV, endSpeedV);
ThrowCriticalException(res, "吸液");
int speedMMPerSecond = 30;
res = MoveController.Instance.DetectLiquid(labware.ZValues.ZStart, labware.ZValues.ZMax, speedMMPerSecond);
ThrowCriticalException(res, "液面检测移动");
MoveController.Instance.StopLiquidDetection();
//检测不到或液体不够，循环询问，
double z = MoveController.Instance.GetZPos(_eARM.左臂);
bool bok = z < labware.ZValues.ZMax;
bool hasEnoughLiquid = false;
if (bok)
{
hasEnoughLiquid = IsEnoughLiquid(labware, volume, liquidClass.AspirationSinglePipetting.SubMergeMM);
if (!hasEnoughLiquid)
{
bok = false;
}
}
if (!bok)
{
string title = !hasEnoughLiquid ? "液体不足" : "";
LiquidNotDetected liquidNotDetectForm = new LiquidNotDetected(title);
liquidNotDetectForm.ShowDialog();
var userSelection = liquidNotDetectForm.UserSelection;
switch (userSelection)
{
case NextActionOfNoLiquid.abort:
pipettingResult = PipettingResult.abort;
errMsg = "无法检测到液体，放弃运行程序！";
log.Error(errMsg);
throw new CriticalException(errMsg);
case NextActionOfNoLiquid.aspirateAir:
pipettingResult = PipettingResult.air;
Move2Position(labwareLabel, wellID);
res = MoveController.Instance.Aspirate(volumes.First(), maxSpeedV, startSpeedV, endSpeedV);
ThrowCriticalException(res, "吸空气");
break;
case NextActionOfNoLiquid.gotoZMax:
Move2Position(labwareLabel, wellID, "ZMax");
pipettingResult = PipettingResult.zmax;
res = MoveController.Instance.Aspirate(volumes.First(), maxSpeedV, startSpeedV, endSpeedV);
ThrowCriticalException(res, "ZMax吸液体");
break;
case NextActionOfNoLiquid.retry:
log.Debug("retry liquid detection");
break;
case NextActionOfNoLiquid.skip:
log.Info("Skipped the pipetting");
pipettingResult = PipettingResult.nothing;
return;
}
}
else //tracking 吸液
{
DoTracking(labware, volume, liquidClass);
}
res = MoveController.Instance.Aspirate(volume + excessVolume, liquidClass.AspirationSinglePipetting.AspirationSpeed, startSpeedV, endSpeedV);
if (res == e_RSPErrorCode.RSP_ERROR_NONE)
{
pipettingResult = PipettingResult.ok;
}
else if (res == e_RSPErrorCode.凝块)
{
ProcessClot(labware, wellID, volume, liquidClass, out pipettingResult, barcode);
}
else if (res == e_RSPErrorCode.泡沫)
{
//currently ignore, just mark the result
pipettingResult = PipettingResult.bubble;
}
else
{
ThrowCriticalException(res, "吸液");
res = MoveController.Instance.Dispense(excessVolume, liquidClass.AspirationSinglePipetting.AspirationSpeed, startSpeedV, endSpeedV);
ThrowCriticalException(res, "喷液");
//到zStart吸 trailing airGap
Move2Position(labwareLabel, wellID, "ZStart");
double trailingAirGap = liquidClass.AspirationSinglePipetting.TrailingAirgap;
MoveController.Instance.Aspirate(trailingAirGap, liquidClass.AspirationSinglePipetting.AspirationSpeed, startSpeedV, endSpeedV);
//delay
int delayMS = liquidClass.AspirationSinglePipetting.Delay;
Thread.Sleep(delayMS);
}
//Move 2 ZTravel
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);
}