private bool RunRomaCommand(ILiquidHandlerCommand machineCommand)
{
RomaCommand romaCommand = machineCommand as RomaCommand;
Labware srcLabware = layout.FindLabware(romaCommand.SrcLabware);
Labware dstLabware = layout.FindLabware(romaCommand.DstLabware);
//srcLabware.PlateVector.Positions
bool needBreak = RunPlateVector(srcLabware.PlateVector);
ITrackInfo romaTrackInfo = new RomaTrackInfo(srcLabware.Label, dstLabware.Label, false);
//OnCommandInfo(this,string.Format("Move to source plate:{0}",srcLabware.Label));
if (needBreak)
{
OnCommandExecuted(romaTrackInfo);
return(true);
}
needBreak = RunPlateVector(dstLabware.PlateVector);
((RomaTrackInfo)romaTrackInfo).AllFinished = true;
//OnCommandInfo(this,string.Format("Move to dst plate:{0}",dstLabware.Label));
OnCommandExecuted(romaTrackInfo);
return(needBreak);
}
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);
}