303 lines
14 KiB
C#
303 lines
14 KiB
C#
using CommunityToolkit.Mvvm.Messaging;
|
||
using MegaRobo.C00225155.Entities;
|
||
using MegaRobo.C00225155.Entities.Entity_DB;
|
||
using MegaRobo.Contract;
|
||
using MegaRobo.ControlDevices;
|
||
using MegaRobo.Entities;
|
||
using MegaRobo.Logger;
|
||
using MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.Hamilton5mlDevices;
|
||
using MegaRobo.PipetteTool.HamiltonConsole.PipetteDevices.HamiltonDevices;
|
||
using System;
|
||
using System.Collections.Generic;
|
||
using System.Linq;
|
||
using System.Text;
|
||
using System.Threading.Tasks;
|
||
using System.Windows;
|
||
using System.Xml.Linq;
|
||
|
||
namespace MegaRobo.C00225155.AppServer.ExecuteWorks
|
||
{
|
||
/// <summary>
|
||
/// 这里主要是针对配置站服务，控制1ml移液枪的逻辑
|
||
/// </summary>
|
||
public partial class StationService_ReactionProcessing : StationServiceBase
|
||
{
|
||
/// <summary>
|
||
/// 1ml枪头 Z轴初始化
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
private async Task GunZAxisInit_M1()
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}Z轴初始化");
|
||
|
||
//莫名其妙的每次初始化都需要重新连接一次，不知道为什么
|
||
pipetteService_1ml.Disconnect();
|
||
await pipetteService_1ml.ConnectionAsync();
|
||
|
||
var dictResult = await pipetteService_1ml.InitZaxis();
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}Z轴初始化失败,{PipetteErrorDic[errorkey]}");
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 1ml枪头 总初始化
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
private async Task GunAllInit_M1()
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}总初始化");
|
||
var dictResult = await pipetteService_1ml.InitZaxis();
|
||
if (dictResult != null)
|
||
{
|
||
dictResult = await pipetteService_1ml.InitPump();
|
||
}
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}总初始化失败,{PipetteErrorDic[errorkey]}");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 1ml枪头 取TIP头
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
private async Task<bool> GunPickUpTip_M1(double tipVolumn)
|
||
{
|
||
ushort tipType = 7;
|
||
if (tipVolumn == 300)//300ul slim的有滤芯的、导电的枪头
|
||
{
|
||
tipType = 9;
|
||
}
|
||
else if (tipVolumn == 50) //50ul的有滤芯的、导电的枪头
|
||
{
|
||
tipType = 3;
|
||
}
|
||
else
|
||
{
|
||
tipType = 7;//1000ul的有滤芯的、导电的枪头
|
||
}
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}取Tip");
|
||
var dictResult = await pipetteService_1ml.TipInstall(tipType: tipType);
|
||
await pipetteService_1ml.InitZaxis(); //Z轴带动泵模块向上运动到最高处
|
||
if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00") || dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "76"))
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}取Tip成功");
|
||
return true;
|
||
}
|
||
else if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
||
{
|
||
Header = $"{DeviceNames.Pipette_React_1ml}取Tip失败",
|
||
Content = $"{PipetteErrorDic[errorkey]}",
|
||
OkButtonContent = "继续",
|
||
CancelButtonContent = "取消",
|
||
});
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}取Tip失败,{PipetteErrorDic[errorkey]}");
|
||
await GunAllInit_M1();
|
||
return false;
|
||
}
|
||
return false;
|
||
}
|
||
|
||
public async Task ZMove(uint pos)
|
||
{
|
||
IEnumerable<uint> pipetteIdList = new List<uint> { 1 };
|
||
pipetteIdList = pipetteService_1ml.PipetteList.Select(x => x.Id);
|
||
foreach (var id in pipetteIdList)
|
||
{
|
||
var dictRes = await pipetteService_1ml.MoveZaxis(0, id);
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 1ml枪头 丢弃Tip头
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
private async Task GunDiscardTip_M1()
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}丢Tip");
|
||
//var dictResult = await pipetteService_1ml.TipUninstall(1);
|
||
//await pipetteService_1ml.InitZaxis();
|
||
//if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
//{
|
||
// this.Logger.LogError($"{DeviceNames.Pipette_Config_1ml}丢Tip失败,{dictResult.LastOrDefault().Value}");
|
||
//}
|
||
var dictResult = await pipetteService_1ml.InitPump();
|
||
await pipetteService_1ml.InitZaxis();
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
||
{
|
||
Header = $"{DeviceNames.Pipette_React_1ml}丢Tip失败",
|
||
Content = $"{PipetteErrorDic[errorkey]}",
|
||
OkButtonContent = "继续",
|
||
CancelButtonContent = "取消",
|
||
});
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}丢Tip失败,{PipetteErrorDic[errorkey]}");
|
||
await GunAllInit_M1();
|
||
}
|
||
}
|
||
|
||
private async Task GunAbsorb_M1(string funcType, string liquidName, int tiporder, double absorbVolumn)
|
||
{
|
||
IList<uint> listId = new List<uint>() { 1 };
|
||
var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_React>(x => x.FuncType == funcType && x.LiquidName == liquidName && (x.TipType == tiporder));
|
||
var curLiqud_M1 = curLiqud.FirstOrDefault();
|
||
curLiqud_M1.LiquidVolume = (int)Math.Abs(absorbVolumn * curLiqud_M1.Ratio);
|
||
//for (int i = 1; i < 3; i++) //若吸液失败，二次吸液
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}开始吸液,吸液量{curLiqud_M1.LiquidVolume}ul");
|
||
var dictResult = await OnSuckFluid(pipetteService_1ml, listId, curLiqud_M1, 1, 1);
|
||
if (dictResult != null)
|
||
{
|
||
if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}吸液成功");
|
||
await pipetteService_1ml.InitZaxis();
|
||
}
|
||
else
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}吸液失败,{PipetteErrorDic[errorkey]}");
|
||
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
||
{
|
||
Header = $"{DeviceNames.Pipette_React_1ml}吸液失败",
|
||
Content = $"{PipetteErrorDic[errorkey]}",
|
||
OkButtonContent = "继续",
|
||
CancelButtonContent = "取消",
|
||
});
|
||
await pipetteService_1ml.InitZaxis();
|
||
}
|
||
}
|
||
else
|
||
{
|
||
await pipetteService_1ml.InitZaxis();
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 1ml枪头 分液
|
||
/// </summary>
|
||
/// <param name="liquidName">液体名称</param>
|
||
/// <param name="volumn">分液体积</param>
|
||
/// <returns></returns>
|
||
private async Task GunDispensing_M1(string funcType, string liquidName, int tipOrder, double volumn)
|
||
{
|
||
Liquid_lml_React curLiqud_M1 = new Liquid_lml_React();
|
||
IList<uint> listId = new List<uint>() { 1 };
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}开始分液,分液量{volumn}ul");
|
||
var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_React>(x => x.FuncType == funcType && x.LiquidName == liquidName && (x.TipType == tipOrder));
|
||
curLiqud_M1 = curLiqud.FirstOrDefault();
|
||
var dictResult = await OnDispenFluid(pipetteService_1ml, listId, curLiqud_M1, 100);//(uint)Math.Abs(volumn)
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}分液失败,{PipetteErrorDic[errorkey]}");
|
||
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
||
{
|
||
Header = $"{DeviceNames.Pipette_React_1ml}分液失败",
|
||
Content = $"{PipetteErrorDic[errorkey]}",
|
||
OkButtonContent = "继续",
|
||
CancelButtonContent = "取消",
|
||
});
|
||
await pipetteService_1ml.InitZaxis();
|
||
}
|
||
else
|
||
{
|
||
this.Logger.LogInformation($"{DeviceNames.Pipette_React_1ml}分液成功");
|
||
await pipetteService_1ml.InitZaxis();
|
||
}
|
||
}
|
||
|
||
private async Task<IDictionary<uint, string>> OnSuckFluid(PipetteService pipetteService, IList<uint> listId, Liquid_lml_React liquidProduct, int subid, int asperIndex = 1)
|
||
{
|
||
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;
|
||
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($"{DeviceNames.Pipette_React_1ml}吸液异常:{ex}");
|
||
throw;
|
||
}
|
||
return resultData;
|
||
}
|
||
|
||
private async Task<IDictionary<uint, string>> OnDispenFluid1(PipetteService pipetteService, IList<uint> listId, Liquid_lml_React liquidProduct, uint dispos)
|
||
{
|
||
IDictionary<uint, string> resultData = new Dictionary<uint, string>();
|
||
try
|
||
{
|
||
if (liquidProduct == null) return null;
|
||
uint platformCode = (uint)liquidProduct.PlatformCode;//平台平台编号
|
||
uint liquidReagentCode = (uint)liquidProduct.LiquidParamId; //移液枪液体编号
|
||
uint vol = (uint)liquidProduct.LiquidVolume;//吸液体积
|
||
uint ge = (uint)liquidProduct.ContainerPlateIndex;//容器编号
|
||
uint lld = (uint)liquidProduct.LiqLedetec;//是否液面探测
|
||
uint pos = dispos;//吸液高度
|
||
IList<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)> idArrayParams = new List<(uint id, uint vol, uint lq, uint pos, uint ge, uint go, uint lb)>();
|
||
foreach (var id in listId)
|
||
{
|
||
idArrayParams.Add((id, vol, liquidReagentCode, pos, ge, platformCode, 0));
|
||
}
|
||
resultData = await pipetteService.DrainageFluid(idArrayParams);
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
this.Logger.LogError($"{DeviceNames.Pipette_React_1ml}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_React 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_React_1ml}分液异常,异常原因:{ex.ToString()}");
|
||
}
|
||
return resultData;
|
||
}
|
||
|
||
}
|
||
}
|