//– 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 GetTip(List <int> tipIDs, DitiType ditiType, out DitiTrackInfo trackInfos)
{
//throw new NotImplementedException();
Debug.WriteLine("Get tip:{0}", tipIDs.First());
trackInfos = new Core.Data.DitiTrackInfo("diti1", tipID++, true);
isTipMounted = true;
Delay();
}
public void GetTip(List <int> tipIDs, DitiType ditiType, out DitiTrackInfo trackInfo)
{
string sCommandDesc = string.Format("从ditibox:{0}中取枪头，还剩:{1}",
tipManagement.GetCurrentDitiBox(ditiType),
tipManagement.GetCurrentDitiID(ditiType));
log.Debug(sCommandDesc);
string errDes = "只支持单针！";
if (tipIDs.Count != 1)
{
log.Error(errDes);
throw new Exception(errDes);
}
var tuple = Move2NextTipPosition(DitiType.OneK);
var ditiBox = tuple.Item1;
//zDistanceFetchTip = ditiBox.ZValues.ZMax - ditiBox.ZValues.ZStart;
//get tip
while (true)
{
bool bok = TryGetTip(ditiBox.ZValues.ZMax);
log.DebugFormat("获取枪头：{0}", bok ? success:fail);
trackInfo = new DitiTrackInfo(tipManagement.GetCurrentDitiBox(ditiType).Label, tipManagement.GetCurrentDitiID(ditiType), bok);
if (bok)
{
break;
}
TipNotFetched tipNotFetched = new TipNotFetched();
tipNotFetched.ShowDialog();
if (tipNotFetched.UserSelection == NextActionOfNoTip.abort)
{
errDes = "取不到枪头，放弃运行程序！";
log.Error(errDes);
throw new CriticalException(errDes);
}
else if (tipNotFetched.UserSelection == NextActionOfNoTip.retryNextPosition)
{
tuple = Move2NextTipPosition(DitiType.OneK);
}
else
{
Move2SearchTipPosition(tuple);
}
}
}
public void DropTip(out DitiTrackInfo ditiTrackInfo)
{
string sCommandDesc = "丢弃枪头";
log.Debug(sCommandDesc);
var position = layout.GetWastePosition();
xyz.X = position.X;
xyz.Y = position.Y;
Move2XYZ(xyz);
string errMsg = "";
while (true)
{
var res = MoveController.Instance.DropDiti();
bool bok = res == e_RSPErrorCode.RSP_ERROR_NONE;
log.DebugFormat("丢弃枪头：{0}", bok ? success : fail);
ditiTrackInfo = new DitiTrackInfo(Labware.WasteLabel, 1, bok, false);
if (bok)
{
bok = !MoveController.Instance.IsTipMounted;
}
if (bok)
{
break;
}
DitiNotDropped ditiNotDroppedForm = new DitiNotDropped();
ditiNotDroppedForm.ShowDialog();
var userSelection = ditiNotDroppedForm.UserSelection;
switch (userSelection)
{
case DitiNotDroppedAction.abort:
errMsg = "无法丢弃枪头，放弃运行程序！";
log.Error(errMsg);
throw new CriticalException(errMsg);
default:
break;
}
}
}
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);
}
