303 lines
14 KiB
C#
303 lines
14 KiB
C#
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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.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_ReactionProcessing : 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()
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{
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}Z轴初始化");
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//莫名其妙的每次初始化都需要重新连接一次，不知道为什么
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pipetteService_1ml.Disconnect();
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await pipetteService_1ml.ConnectionAsync();
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var dictResult = await pipetteService_1ml.InitZaxis();
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if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}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()
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{
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}总初始化");
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var dictResult = await pipetteService_1ml.InitZaxis();
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if (dictResult != null)
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{
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dictResult = await pipetteService_1ml.InitPump();
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}
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if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}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(double tipVolumn)
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{
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ushort tipType = 7;
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if (tipVolumn == 300)//300ul slim的有滤芯的、导电的枪头
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{
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tipType = 9;
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}
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else if (tipVolumn == 50) //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
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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($"{DeviceNames.Pipette_React_1ml}取Tip");
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var dictResult = await pipetteService_1ml.TipInstall(tipType: tipType);
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await pipetteService_1ml.InitZaxis(); //Z轴带动泵模块向上运动到最高处
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if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00") || dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "76"))
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{
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}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 = $"{DeviceNames.Pipette_React_1ml}取Tip失败",
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Content = $"{PipetteErrorDic[errorkey]}",
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OkButtonContent = "继续",
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CancelButtonContent = "取消",
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});
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}取Tip失败,{PipetteErrorDic[errorkey]}");
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await GunAllInit_M1();
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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()
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{
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}丢Tip");
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//var dictResult = await pipetteService_1ml.TipUninstall(1);
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//await pipetteService_1ml.InitZaxis();
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//if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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//{
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// this.Logger.LogError($"{DeviceNames.Pipette_Config_1ml}丢Tip失败,{dictResult.LastOrDefault().Value}");
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//}
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var dictResult = await pipetteService_1ml.InitPump();
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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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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 = $"{DeviceNames.Pipette_React_1ml}丢Tip失败",
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Content = $"{PipetteErrorDic[errorkey]}",
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OkButtonContent = "继续",
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CancelButtonContent = "取消",
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});
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}丢Tip失败,{PipetteErrorDic[errorkey]}");
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await GunAllInit_M1();
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}
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}
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private async Task GunAbsorb_M1(string funcType, string liquidName, int tiporder, double absorbVolumn)
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{
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IList<uint> listId = new List<uint>() { 1 };
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var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_React>(x => x.FuncType == funcType && x.LiquidName == liquidName && (x.TipType == tiporder));
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var curLiqud_M1 = curLiqud.FirstOrDefault();
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curLiqud_M1.LiquidVolume = (int)Math.Abs(absorbVolumn * curLiqud_M1.Ratio);
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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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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}开始吸液,吸液量{curLiqud_M1.LiquidVolume}ul");
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var dictResult = await OnSuckFluid(pipetteService_1ml, listId, curLiqud_M1, 1, 1);
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if (dictResult != null)
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{
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if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
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{
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}吸液成功");
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await pipetteService_1ml.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($"{DeviceNames.Pipette_React_1ml}吸液失败,{PipetteErrorDic[errorkey]}");
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WeakReferenceMessenger.Default.Send(new ConfirmMessage()
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{
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Header = $"{DeviceNames.Pipette_React_1ml}吸液失败",
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Content = $"{PipetteErrorDic[errorkey]}",
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OkButtonContent = "继续",
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CancelButtonContent = "取消",
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});
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await pipetteService_1ml.InitZaxis();
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}
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}
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else
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{
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await pipetteService_1ml.InitZaxis();
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}
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}
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}
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/// <summary>
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/// 1ml枪头 分液
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/// </summary>
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/// <param name="liquidName">液体名称</param>
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/// <param name="volumn">分液体积</param>
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/// <returns></returns>
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private async Task GunDispensing_M1(string funcType, string liquidName, int tipOrder, double volumn)
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{
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Liquid_lml_React curLiqud_M1 = new Liquid_lml_React();
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IList<uint> listId = new List<uint>() { 1 };
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}开始分液,分液量{volumn}ul");
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var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_React>(x => x.FuncType == funcType && x.LiquidName == liquidName && (x.TipType == tipOrder));
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curLiqud_M1 = curLiqud.FirstOrDefault();
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var dictResult = await OnDispenFluid(pipetteService_1ml, listId, curLiqud_M1, 100);//(uint)Math.Abs(volumn)
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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($"{DeviceNames.Pipette_React_1ml}分液失败,{PipetteErrorDic[errorkey]}");
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WeakReferenceMessenger.Default.Send(new ConfirmMessage()
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{
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Header = $"{DeviceNames.Pipette_React_1ml}分液失败",
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Content = $"{PipetteErrorDic[errorkey]}",
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OkButtonContent = "继续",
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CancelButtonContent = "取消",
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});
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await pipetteService_1ml.InitZaxis();
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}
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else
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{
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this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}分液成功");
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await pipetteService_1ml.InitZaxis();
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}
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}
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private async Task<IDictionary<uint, string>> OnSuckFluid(PipetteService pipetteService, IList<uint> listId, Liquid_lml_React liquidProduct, int subid, int asperIndex = 1)
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{
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IDictionary<uint, string> resultData;
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try
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{
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if (liquidProduct == null) return null;
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uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
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uint liquidReagentCode = (uint)liquidProduct.LiquidParamId; //移液枪液体编号
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uint vol = (uint)liquidProduct.LiquidVolume;//吸液体积
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uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
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uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
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uint pos = (uint)liquidProduct.AspireHeight;
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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)>();
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foreach (var id in listId)
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{
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idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, lld));
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}
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resultData = await pipetteService.SuckFluid(idArrayParams);
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}
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catch (Exception ex)
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{
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}吸液异常:{ex}");
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throw;
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}
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return resultData;
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}
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private async Task<IDictionary<uint, string>> OnDispenFluid1(PipetteService pipetteService, IList<uint> listId, Liquid_lml_React liquidProduct, uint dispos)
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{
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IDictionary<uint, string> resultData = new Dictionary<uint, string>();
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try
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{
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if (liquidProduct == null) return null;
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uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
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uint liquidReagentCode = (uint)liquidProduct.LiquidParamId; //移液枪液体编号
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uint vol = (uint)liquidProduct.LiquidVolume;//吸液体积
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uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
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uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
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uint pos = dispos;//吸液高度
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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)>();
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foreach (var id in listId)
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{
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idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, 0));
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}
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resultData = await pipetteService.DrainageFluid(idArrayParams);
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}
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catch (Exception ex)
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{
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}分液异常,异常原因:{ex}");
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}
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return resultData;
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}
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private async Task<IDictionary<uint, string>> OnDispenFluid(PipetteService pipetteService, IList<uint> listId, Liquid_lml_React liquidProduct, uint volume)
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{
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IDictionary<uint, string> resultData = new Dictionary<uint, string>();
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try
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{
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if (liquidProduct == null) return null;
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uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
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uint liquidReagentCode = (uint)liquidProduct.LiquidParamId;//移液枪液体编号
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uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
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uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
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uint pos = (uint)liquidProduct.DispenHeight;//分液高度
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uint vol = volume;
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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)>();
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foreach (var id in listId)
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{
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idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, 0));
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}
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resultData = await pipetteService.DrainageFluid(idArrayParams);
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}
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catch (Exception ex)
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{
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this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}分液异常,异常原因:{ex.ToString()}");
|
|||
|
|
}
|
|||
|
|
return resultData;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|