//– 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;
}
}
////when stop move triggers, we check whether we have moved the minium distance,
////if not, we move the remaining distance
public void StopMove()
{
Axis axis = ConvertDir2Axis(dir);
dir = Direction.None;
e_RSPErrorCode res = MoveController.Instance.StopMove(enumMapper[armType], axis);
}
void ThrowIfErrorHappened(e_RSPErrorCode res)
{
if (res != e_RSPErrorCode.RSP_ERROR_NONE)
{
throw new CriticalException(res.ToString());
}
}
private void ThrowCriticalException(e_RSPErrorCode res)
{
if (res != e_RSPErrorCode.RSP_ERROR_NONE)
{
throw new CriticalException(res.ToString());
}
}
public void StartMove(ArmType armType, WorkstationController.Hardware.Direction dir, int speedMMPerSecond)
{
startPosition = GetPosition(armType);
this.dir = dir;
this.armType = armType;
this.speedMMPerSecond = speedMMPerSecond;
if (armType == ArmType.Roma)
{
GetClipperInfo(ref degree, ref clipWidth);
}
var eArmType = enumMapper[armType];
//var res = MoveController.Instance.StartMove(enumMapper[armType], (Direction)dir, speedMMPerSecond);
e_RSPErrorCode res = e_RSPErrorCode.RSP_ERROR_NONE;
e_CanMotorID motorID = e_CanMotorID.CanMotorID_Max;
double absPosition = 0;
switch (dir)
{
case Direction.Left:
case Direction.Right:
motorID = armType == ArmType.Liha ? e_CanMotorID.CanMotorID_Left_x : e_CanMotorID.CanMotorID_Right_x;
absPosition = dir == Direction.Left ? 0 : 700;
res = MoveController.Instance.StartMove(eArmType, Axis.X, speedMMPerSecond, absPosition, 0);
Debug.WriteLine(string.Format("movex result:{0}", res.ToString()));
break;
case Direction.Up:
case Direction.Down:
motorID = armType == ArmType.Liha ? e_CanMotorID.CanMotorID_Left_y : e_CanMotorID.CanMotorID_Right_y;
absPosition = dir == Direction.Down ? 400 : 0;
res = MoveController.Instance.StartMove(eArmType, Axis.Y, speedMMPerSecond, absPosition, 0);
break;
case Direction.ZDown:
case Direction.ZUp:
motorID = armType == ArmType.Liha ? e_CanMotorID.CanMotorID_Left_z : e_CanMotorID.CanMotorID_Right_z;
absPosition = dir == Direction.ZUp ? 0 : 300;
res = MoveController.Instance.StartMove(eArmType, Axis.Z, speedMMPerSecond, absPosition, 0);
break;
case Direction.RotateCCW:
case Direction.RotateCW:
this.armType = ArmType.Roma;
motorID = e_CanMotorID.CanMotorID_Rotate;
absPosition = dir == Direction.RotateCCW ? 360 : 720;
res = MoveController.Instance.StartMove(_eARM.右臂, Axis.R, speedMMPerSecond, absPosition, 0);
break;
case Direction.ClampOff:
case Direction.ClampOn:
this.armType = ArmType.Roma;
motorID = e_CanMotorID.CanMotorID_Clipper;
absPosition = dir == Direction.ClampOff ? 0 : 20;
res = MoveController.Instance.StartMove(_eARM.右臂, Axis.Clipper, speedMMPerSecond, absPosition, 0);
break;
}
ThrowIfErrorHappened(res);
}
private void ThrowCriticalException(e_RSPErrorCode res, string actionDesc = "")
{
if (res != e_RSPErrorCode.RSP_ERROR_NONE)
{
string addtionalInfo = actionDesc == "" ? "" : string.Format("在{0}中发生错误：", actionDesc);
addtionalInfo += res.ToString();
log.Error(addtionalInfo);
throw new CriticalException(addtionalInfo);
}
}
