462 lines
21 KiB
C#
462 lines
21 KiB
C#
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using Common.Models;
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using CommunityToolkit.Mvvm.Messaging;
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using MegaRobo.C00225155.Entities;
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using MegaRobo.C00225155.Entities.Entity_DB;
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using MegaRobo.Contract;
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using MegaRobo.ControlDevices;
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using MegaRobo.Entities;
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using MegaRobo.Logger;
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using MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.Hamilton5mlDevices;
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using MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.HamiltonDevices;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Linq.Expressions;
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using System.Management;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows;
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using System.Xml.Linq;
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namespace MegaRobo.C00225155.AppServer.ExecuteWorks
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{
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/// <summary>
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/// 这里主要是针对配置站服务，控制1ml移液枪的逻辑
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/// </summary>
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public partial class StationService_MaterialDosing: StationServiceBase
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{
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/// <summary>
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/// 1ml枪头 Z轴初始化
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/// </summary>
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/// <returns></returns>
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private async Task GunZAxisInit_M1(DeviceNames pipetteDevice, PipetteService pipetteService)
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{
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this.Logger.LogInformation($"{pipetteDevice}Z轴初始化");
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IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
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IList<uint> IdList = new List<uint>();
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switch (pipetteDevice)
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{
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case DeviceNames.Pipette_Dose_1ml_1:
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IdList = new List<uint> { 1 };
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break;
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case DeviceNames.Pipette_Dose_1ml_2:
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IdList = new List<uint> { 2 };
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break;
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case DeviceNames.Pipette_Dose_1ml_3:
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IdList = new List<uint> { 3 };
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break;
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case DeviceNames.Pipette_Dose_1ml_4:
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IdList = new List<uint> { 4 };
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break;
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default:
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break;
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}
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pipetteService.Disconnect();
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await pipetteService.ConnectionAsync();
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dictResult = await pipetteService.InitZaxis(IdList.ToArray());
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if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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this.Logger.LogError($"{pipetteDevice}Z轴初始化失败,{PipetteErrorDic[errorkey]}");
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}
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}
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/// <summary>
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/// 1ml枪头 总初始化
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/// </summary>
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/// <returns></returns>
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private async Task GunAllInit_M1(DeviceNames pipetteDevice, PipetteService pipetteService)
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{
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this.Logger.LogInformation($"{pipetteDevice}总初始化");
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IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
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IList<uint> IdList = new List<uint>();
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switch (pipetteDevice)
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{
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case DeviceNames.Pipette_Dose_1ml_1:
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IdList = new List<uint> { 1 };
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break;
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case DeviceNames.Pipette_Dose_1ml_2:
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IdList = new List<uint> { 2 };
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break;
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case DeviceNames.Pipette_Dose_1ml_3:
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IdList = new List<uint> { 3 };
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break;
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case DeviceNames.Pipette_Dose_1ml_4:
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IdList = new List<uint> { 4 };
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break;
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default:
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break;
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}
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dictResult = await pipetteService.InitZaxis(IdList.ToArray());
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if (dictResult != null)
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{
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dictResult = await pipetteService.InitPump();
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}
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if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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this.Logger.LogError($"{pipetteDevice}总初始化失败,{PipetteErrorDic[errorkey]}");
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}
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}
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/// <summary>
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/// 1ml枪头 取TIP头
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/// </summary>
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/// <returns></returns>
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private async Task<bool> GunPickUpTip_M1(DeviceNames pipetteDevice, PipetteService pipetteService, TipTypeEnum tipVolume)
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{
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if (TestMode) return true;
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ushort tipType = 7;
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uint go = 0;
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if (tipVolume.Equals(TipTypeEnum._300UL))//300ul slim的有滤芯的、导电的枪头
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{
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tipType = 9; go = 0;
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}
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else if (tipVolume.Equals(TipTypeEnum._50UL)) //50ul的有滤芯的、导电的枪头
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{
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tipType = 3;
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}
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else if (tipVolume.Equals(TipTypeEnum._1000UL))
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{
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tipType = 7;//1000ul的有滤芯的、导电的枪头
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}
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this.Logger.LogInformation($"{pipetteDevice}取Tip-tipType(9:300,3:50,7:1000):{tipType}");
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IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
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IList<uint> IdList = new List<uint>();
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switch (pipetteDevice)
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{
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case DeviceNames.Pipette_Dose_1ml_1:
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IdList = new List<uint> { 1 };
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break;
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case DeviceNames.Pipette_Dose_1ml_2:
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IdList = new List<uint> { 2 };
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break;
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case DeviceNames.Pipette_Dose_1ml_3:
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IdList = new List<uint> { 3 };
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break;
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case DeviceNames.Pipette_Dose_1ml_4:
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IdList = new List<uint> { 4 };
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break;
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default:
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break;
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}
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dictResult = await pipetteService.TipInstall(tipType: tipType, go, IdList.ToArray());
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await pipetteService.InitZaxis(); //Z轴带动泵模块向上运动到最高处
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if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00") || dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "76"))
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{
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this.Logger.LogInformation($"{pipetteDevice}取Tip成功");
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return true;
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}
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else if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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//WeakReferenceMessenger.Default.Send(new ConfirmMessage()
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//{
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// Header = $"{pipetteDevice}取Tip失败",
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// Content = $"{PipetteErrorDic[errorkey]}",
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// OkButtonContent = "继续",
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// CancelButtonContent = "取消",
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//});
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WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = $"{pipetteDevice}取Tip失败" , Content = $"{PipetteErrorDic[errorkey]}" });
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this.Logger.LogError($"{pipetteDevice}取Tip失败,{PipetteErrorDic[errorkey]}");
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await GunAllInit_M1(pipetteDevice, pipetteService);
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return false;
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}
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return false;
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}
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//public async Task ZMove(uint pos)
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//{
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// IEnumerable<uint> pipetteIdList = new List<uint> { 1 };
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// pipetteIdList = pipetteService_1ml.PipetteList.Select(x => x.Id);
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// foreach (var id in pipetteIdList)
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// {
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// var dictRes = await pipetteService_1ml.MoveZaxis(0, id);
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// }
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//}
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/// <summary>
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/// 1ml枪头 丢弃Tip头
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/// </summary>
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/// <returns></returns>
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private async Task GunDiscardTip_M1(DeviceNames pipetteDevice, PipetteService pipetteService)
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{
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if (TestMode) return;
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this.Logger.LogInformation($"{pipetteDevice}丢Tip");
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IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
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IList<uint> IdList = new List<uint>();
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switch (pipetteDevice)
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{
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case DeviceNames.Pipette_Dose_1ml_1:
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IdList = new List<uint> { 1 };
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break;
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case DeviceNames.Pipette_Dose_1ml_2:
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IdList = new List<uint> { 2 };
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break;
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case DeviceNames.Pipette_Dose_1ml_3:
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IdList = new List<uint> { 3 };
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break;
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case DeviceNames.Pipette_Dose_1ml_4:
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IdList = new List<uint> { 4 };
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break;
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default:
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break;
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}
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//var dictResult = await pipetteService_1ml.TipUninstall(1);
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//await pipetteService_1ml.InitZaxis();
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//if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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//{
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// this.Logger.LogError($"{DeviceNames.Pipette_Config_1ml}丢Tip失败,{dictResult.LastOrDefault().Value}");
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//}
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dictResult = await pipetteService.InitPump(IdList.ToArray());
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await pipetteService.InitZaxis();
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if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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WeakReferenceMessenger.Default.Send(new ConfirmMessage()
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{
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Header = $"{pipetteDevice}丢Tip失败",
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Content = $"{PipetteErrorDic[errorkey]}",
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OkButtonContent = "继续",
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CancelButtonContent = "取消",
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});
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this.Logger.LogError($"{pipetteDevice}丢Tip失败,{PipetteErrorDic[errorkey]}");
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await GunAllInit_M1(pipetteDevice, pipetteService);
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}
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}
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private async Task GunAbsorb_M1(DeviceNames pipetteDevice, PipetteService pipetteService, string liquidName, int tiporder, double absorbVolumn, SourceLiquidBottleModel sourceLiquidBottleModel)
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{
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if (TestMode) return;
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IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
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var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_Dose>(x => x.LiquidName == liquidName && x.TipType == tiporder); //&& x.TipType == tiporder 暂时屏蔽
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if (curLiqud == null || curLiqud.Count == 0)
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{
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curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_Dose>(x => x.TipType == tiporder);
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}
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var curLiqud_M1 = curLiqud.FirstOrDefault();
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curLiqud_M1.TipType = tiporder;
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curLiqud_M1.LiquidVolume = (int)Math.Abs(absorbVolumn * curLiqud_M1.Ratio);
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IList<uint> IdList = new List<uint>();
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switch (pipetteDevice)
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{
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case DeviceNames.Pipette_Dose_1ml_1:
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IdList = new List<uint> { 1 };
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break;
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case DeviceNames.Pipette_Dose_1ml_2:
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IdList = new List<uint> { 2 };
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break;
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case DeviceNames.Pipette_Dose_1ml_3:
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IdList = new List<uint> { 3 };
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break;
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case DeviceNames.Pipette_Dose_1ml_4:
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IdList = new List<uint> { 4 };
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break;
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default:
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break;
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}
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this.Logger.LogInformation($"{pipetteDevice}开始吸液,吸液量{curLiqud_M1.LiquidVolume}ul");
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dictResult = await OnSuckFluid(pipetteService, IdList, curLiqud_M1, 1, 1, sourceLiquidBottleModel);
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//for (int i = 1; i < 3; i++) //若吸液失败，二次吸液
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{
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if (dictResult != null)
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{
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if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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this.Logger.LogInformation($"{pipetteDevice}吸液成功");
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await pipetteService.InitZaxis();
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}
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else
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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this.Logger.LogError($"{pipetteDevice}吸液失败,{PipetteErrorDic[errorkey]}");
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WeakReferenceMessenger.Default.Send(new ConfirmMessage()
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{
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Header = $"{pipetteDevice}吸液失败",
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Content = $"{PipetteErrorDic[errorkey]}",
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OkButtonContent = "继续",
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CancelButtonContent = "取消",
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});
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await pipetteService.InitZaxis();
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}
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}
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else
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{
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await pipetteService.InitZaxis();
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}
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}
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}
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/// <summary>
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/// 1ml枪头 分液
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/// </summary>
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/// <param name="liquidName">液体名称</param>
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/// <param name="volumn">分液体积</param>
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/// <returns></returns>
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private async Task GunDispensing_M1(DeviceNames pipetteDevice, PipetteService pipetteService, string liquidName, int tipOrder,uint vol, SampleBottleModel sampleBottleModel)
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{
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if (TestMode) return;
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IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
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//IList<uint> listId = new List<uint>();
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Liquid_lml_Dose curLiqud_M1 = new Liquid_lml_Dose();
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IList<uint> IdList = new List<uint>();
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switch (pipetteDevice)
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{
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case DeviceNames.Pipette_Dose_1ml_1:
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IdList = new List<uint> { 1 };
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break;
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case DeviceNames.Pipette_Dose_1ml_2:
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IdList = new List<uint> { 2 };
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break;
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case DeviceNames.Pipette_Dose_1ml_3:
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IdList = new List<uint> { 3 };
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break;
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|
|
case DeviceNames.Pipette_Dose_1ml_4:
|
|||
|
|
IdList = new List<uint> { 4 };
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
this.Logger.LogInformation($"{pipetteDevice}开始分液");
|
|||
|
|
var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_Dose>(x => x.LiquidName == liquidName && x.TipType == tipOrder); //
|
|||
|
|
if (curLiqud == null || curLiqud.Count == 0)
|
|||
|
|
{
|
|||
|
|
curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_Dose>(x => x.TipType == tipOrder);
|
|||
|
|
}
|
|||
|
|
curLiqud_M1 = curLiqud.FirstOrDefault();
|
|||
|
|
if (sampleBottleModel.SampleBottleType == SampleBottleTypeEnum._12mL)
|
|||
|
|
{
|
|||
|
|
curLiqud_M1.DispenHeight -= 300; //12ml样品瓶比5ml高约3cm
|
|||
|
|
}
|
|||
|
|
dictResult = await OnDispenFluid(pipetteService, IdList, curLiqud_M1, vol);//(uint)Math.Abs(volumn)
|
|||
|
|
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
|||
|
|
{
|
|||
|
|
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
|||
|
|
this.Logger.LogError($"{pipetteDevice}分液失败,{PipetteErrorDic[errorkey]}");
|
|||
|
|
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
|||
|
|
{
|
|||
|
|
Header = $"{pipetteDevice}分液失败",
|
|||
|
|
Content = $"{PipetteErrorDic[errorkey]}",
|
|||
|
|
OkButtonContent = "继续",
|
|||
|
|
CancelButtonContent = "取消",
|
|||
|
|
});
|
|||
|
|
await pipetteService.InitZaxis();
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
this.Logger.LogInformation($"{pipetteDevice}分液成功");
|
|||
|
|
await pipetteService.InitZaxis();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private async Task<IDictionary<uint, string>> OnSuckFluid(PipetteService pipetteService, IList<uint> listId, Liquid_lml_Dose liquidProduct, int subid, int asperIndex = 1, SourceLiquidBottleModel sourceLiquidBottleModel = null)
|
|||
|
|
{
|
|||
|
|
IDictionary<uint, string> resultData;
|
|||
|
|
try
|
|||
|
|
{
|
|||
|
|
if (liquidProduct == null) return null;
|
|||
|
|
uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
|
|||
|
|
uint liquidReagentCode = (uint)liquidProduct.LiquidParamId; //移液枪液体编号
|
|||
|
|
uint vol = (uint)liquidProduct.LiquidVolume;//吸液体积
|
|||
|
|
uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
|
|||
|
|
uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
|
|||
|
|
uint pos = (uint)liquidProduct.AspireHeight; //液面探测其实高度 或者固定吸液高度
|
|||
|
|
|
|||
|
|
if (lld == 0) //qrbian todo:需要区分1000μl,300μl,50μl,计算余量对应的吸液高度 根据sourceLiquidBottleModel sourceLiquidBottleModel.RemainVolume
|
|||
|
|
{
|
|||
|
|
//底部高度（三种tip不一样） = 底部高度 - 液体剩余高度 + 浸入高度（三种tip不一样）
|
|||
|
|
//int heightMax = liquidProduct.TipType == 3 ? 1000 : (liquidProduct.TipType == 2 ? 300 : 50); //tip到底部高度最大值
|
|||
|
|
int heightMax = 2220;
|
|||
|
|
//int inHeight = liquidProduct.TipType == 3 ? 1000 : (liquidProduct.TipType == 2 ? 300 : 50); //浸入高度
|
|||
|
|
int inHeight = 50; //浸入高度
|
|||
|
|
if (sourceLiquidBottleModel.RemainVolume > 40)
|
|||
|
|
{
|
|||
|
|
sourceLiquidBottleModel.RemainVolume = 40;
|
|||
|
|
}
|
|||
|
|
int liquidRemainHeight = (int)(100 * sourceLiquidBottleModel.RemainVolume / (Math.PI * 1.25 * 1.25));
|
|||
|
|
int realHeight = heightMax - liquidRemainHeight + inHeight; //底部高度向上抬升液体高度再浸入液面高度
|
|||
|
|
realHeight = realHeight > heightMax ? heightMax : realHeight; //确保不能超过底部高度
|
|||
|
|
//pos = 1700; //todo:将上面的heightMax、inHeight修改，这个替换成realHeight
|
|||
|
|
pos = (uint)realHeight;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
IList<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)> idArrayParams = new List<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)>();
|
|||
|
|
foreach (var id in listId)
|
|||
|
|
{
|
|||
|
|
idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, lld));
|
|||
|
|
}
|
|||
|
|
resultData = await pipetteService.SuckFluid(idArrayParams);
|
|||
|
|
}
|
|||
|
|
catch (Exception ex)
|
|||
|
|
{
|
|||
|
|
this.Logger.LogError($"{DeviceNames.Pipette_Dose_1ml_1}吸液异常:{ex}");
|
|||
|
|
throw;
|
|||
|
|
}
|
|||
|
|
return resultData;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private async Task<IDictionary<uint, string>> OnDispenFluid1(PipetteService pipetteService, IList<uint> listId, Liquid_lml_Dose liquidProduct, uint dispos)
|
|||
|
|
{
|
|||
|
|
IDictionary<uint, string> resultData = new Dictionary<uint, string>();
|
|||
|
|
try
|
|||
|
|
{
|
|||
|
|
if (liquidProduct == null) return null;
|
|||
|
|
uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
|
|||
|
|
uint liquidReagentCode = (uint)liquidProduct.LiquidParamId; //移液枪液体编号
|
|||
|
|
uint vol = (uint)liquidProduct.LiquidVolume;//吸液体积
|
|||
|
|
uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
|
|||
|
|
uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
|
|||
|
|
uint pos = dispos;//吸液高度
|
|||
|
|
IList<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)> idArrayParams = new List<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)>();
|
|||
|
|
foreach (var id in listId)
|
|||
|
|
{
|
|||
|
|
idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, 0));
|
|||
|
|
}
|
|||
|
|
resultData = await pipetteService.DrainageFluid(idArrayParams);
|
|||
|
|
}
|
|||
|
|
catch (Exception ex)
|
|||
|
|
{
|
|||
|
|
this.Logger.LogError($"{DeviceNames.Pipette_Dose_1ml_1}分液异常,异常原因:{ex}");
|
|||
|
|
}
|
|||
|
|
return resultData;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
private async Task<IDictionary<uint, string>> OnDispenFluid(PipetteService pipetteService, IList<uint> listId, Liquid_lml_Dose liquidProduct, uint volume)
|
|||
|
|
{
|
|||
|
|
IDictionary<uint, string> resultData = new Dictionary<uint, string>();
|
|||
|
|
try
|
|||
|
|
{
|
|||
|
|
if (liquidProduct == null) return null;
|
|||
|
|
uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
|
|||
|
|
uint liquidReagentCode = (uint)liquidProduct.LiquidParamId;//移液枪液体编号
|
|||
|
|
uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
|
|||
|
|
uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
|
|||
|
|
uint pos = (uint)liquidProduct.DispenHeight;//分液高度
|
|||
|
|
uint vol = volume;
|
|||
|
|
|
|||
|
|
IList<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)> idArrayParams = new List<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)>();
|
|||
|
|
foreach (var id in listId)
|
|||
|
|
{
|
|||
|
|
idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, 0));
|
|||
|
|
}
|
|||
|
|
resultData = await pipetteService.DrainageFluid(idArrayParams);
|
|||
|
|
}
|
|||
|
|
catch (Exception ex)
|
|||
|
|
{
|
|||
|
|
this.Logger.LogError($"{DeviceNames.Pipette_Dose_1ml_1}分液异常,异常原因:{ex.ToString()}");
|
|||
|
|
}
|
|||
|
|
return resultData;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|