private void CheckSpeedsValidity(LiquidClass liquidClass)
{
int maxSpeed = TeachingControllerDelegate.Instance.Controller.MaxPipettingSpeed;
CheckSpeedValidity(liquidClass.AspirationSinglePipetting.AspirationSpeed, maxSpeed, "AspirationSpeed");
CheckSpeedValidity(liquidClass.DispenseSinglePipetting.DispenseSpeed, maxSpeed, "DispenseSpeed");
}
private void OnLiquidClassDeleteMenuItemClick(object sender, RoutedEventArgs e)
{
LiquidClass selectedLC = (LiquidClass)this.lb_liquidclass.SelectedItem;
PipettorElementManager.Instance.DeletePipettorElement <LiquidClass>(selectedLC.TypeName);
DeleteTabItem(selectedLC.TypeName);
}
//– 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 OnBtnSaveClick(object sender, RoutedEventArgs e)
{
// The DataContext must be LiquidClass
LiquidClass liquidClass = this.DataContext as LiquidClass;
if (liquidClass == null)
{
throw new InvalidOperationException("DataContext of LiquiClassEditor must be an instance of LiquidClass");
}
try
{
CheckSpeedsValidity(liquidClass);
PipettorElementManager.Instance.SavePipettorElement(liquidClass);
}
catch (Exception ex)
{
if (newInfoHandler != null)
{
newInfoHandler(ex.Message, true);
}
}
}
private void OnLiquidClassDuplicateMenuItemClick(object sender, RoutedEventArgs e)
{
LiquidClass liquidClass = ((LiquidClass)this.lb_liquidclass.SelectedItem).Clone() as LiquidClass;
LiquidClassEditor editor = new LiquidClassEditor(AddInfo);
editor.DataContext = liquidClass;
this.AddTabItem(editor);
}
private void OnLiquidClassNewMenuItemClick(object sender, RoutedEventArgs e)
{
LiquidClass liquidClass = new LiquidClass();
LiquidClassEditor editor = new LiquidClassEditor(AddInfo);
editor.DataContext = liquidClass;
this.AddTabItem(editor);
}
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 OnLiquidClassXmlFileCreated(object sender, FileSystemEventArgs e)
{
LiquidClass liquidClass = this.CreatedPipettorElement.Pop() as LiquidClass;
if (liquidClass == null)
{
throw new InvalidOperationException("LiquidClass instance was supposed to be existing.");
}
this._liquidClasses.Add(e.FullPath, liquidClass);
this.PropertyChanged(this, new PropertyChangedEventArgs("LiquidClasses"));
}
private void OnLiquidClassEditMenuItemClick(object sender, RoutedEventArgs e)
{
LiquidClass selectedLC = (LiquidClass)this.lb_liquidclass.SelectedItem;
if (this.ActivateEditingTab(selectedLC.TypeName))
{
return;
}
LiquidClassEditor editor = new LiquidClassEditor(AddInfo);
editor.DataContext = selectedLC;
this.AddTabItem(editor);
}
public void LiquidClassDeserializeTest()
{
LiquidClass liquidClass = LiquidClass.Create(this._xmlFileLiquidClass);
Assert.AreEqual <int>(liquidClass.AspirationSinglePipetting.AspirationSpeed, 400);
Assert.AreEqual <int>(liquidClass.AspirationSinglePipetting.Delay, 200);
Assert.AreEqual <int>(liquidClass.AspirationSinglePipetting.ExcessVolume, 20);
Assert.AreEqual <int>(liquidClass.AspirationSinglePipetting.LeadingAirgap, 15);
Assert.AreEqual <int>(liquidClass.AspirationSinglePipetting.SystemTrailingAirgap, 10);
Assert.AreEqual <int>(liquidClass.AspirationSinglePipetting.TrailingAirgap, 50);
Assert.AreEqual <int>(liquidClass.DispenseSinglePipetting.DispenseSpeed, 300);
Assert.AreEqual <int>(liquidClass.DispenseSinglePipetting.Delay, 150);
Assert.AreEqual <bool>(false, liquidClass.DispenseSinglePipetting.TrailingAirgapAfterDispense);
Assert.AreEqual <bool>(true, liquidClass.DispenseMultiPipetting.TrailingAirgapAfterDispense);
}
public void LiquidClassSerializeTest()
{
LiquidClass liquidClass = new LiquidClass();
liquidClass.TypeName = "LiquidClass Serialization Test";
liquidClass.AspirationSinglePipetting.AspirationSpeed = 400;
liquidClass.AspirationSinglePipetting.Delay = 200;
liquidClass.AspirationSinglePipetting.ExcessVolume = 20;
liquidClass.AspirationSinglePipetting.LeadingAirgap = 15;
liquidClass.AspirationSinglePipetting.SystemTrailingAirgap = 10;
liquidClass.AspirationSinglePipetting.TrailingAirgap = 50;
liquidClass.DispenseMultiPipetting.DispenseSpeed = 400;
liquidClass.DispenseMultiPipetting.Delay = 250;
liquidClass.DispenseMultiPipetting.TrailingAirgapAfterDispense = true;
liquidClass.DispenseSinglePipetting.DispenseSpeed = 300;
liquidClass.DispenseSinglePipetting.Delay = 150;
liquidClass.DispenseSinglePipetting.TrailingAirgapAfterDispense = false;
liquidClass.Serialize(this._xmlFileLiquidClass);
}
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);
}
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);
}
