462 lines
21 KiB
C#
462 lines
21 KiB
C#
using Common.Models;
|
||
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.Linq.Expressions;
|
||
using System.Management;
|
||
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_MaterialDosing: StationServiceBase
|
||
{
|
||
/// <summary>
|
||
/// 1ml枪头 Z轴初始化
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
private async Task GunZAxisInit_M1(DeviceNames pipetteDevice, PipetteService pipetteService)
|
||
{
|
||
this.Logger.LogInformation($"{pipetteDevice}Z轴初始化");
|
||
IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
|
||
IList<uint> IdList = new List<uint>();
|
||
switch (pipetteDevice)
|
||
{
|
||
case DeviceNames.Pipette_Dose_1ml_1:
|
||
IdList = new List<uint> { 1 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_2:
|
||
IdList = new List<uint> { 2 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_3:
|
||
IdList = new List<uint> { 3 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_4:
|
||
IdList = new List<uint> { 4 };
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
pipetteService.Disconnect();
|
||
await pipetteService.ConnectionAsync();
|
||
dictResult = await pipetteService.InitZaxis(IdList.ToArray());
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{pipetteDevice}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(DeviceNames pipetteDevice, PipetteService pipetteService)
|
||
{
|
||
this.Logger.LogInformation($"{pipetteDevice}总初始化");
|
||
IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
|
||
IList<uint> IdList = new List<uint>();
|
||
switch (pipetteDevice)
|
||
{
|
||
case DeviceNames.Pipette_Dose_1ml_1:
|
||
IdList = new List<uint> { 1 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_2:
|
||
IdList = new List<uint> { 2 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_3:
|
||
IdList = new List<uint> { 3 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_4:
|
||
IdList = new List<uint> { 4 };
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
dictResult = await pipetteService.InitZaxis(IdList.ToArray());
|
||
if (dictResult != null)
|
||
{
|
||
dictResult = await pipetteService.InitPump();
|
||
}
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{pipetteDevice}总初始化失败,{PipetteErrorDic[errorkey]}");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 1ml枪头 取TIP头
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
private async Task<bool> GunPickUpTip_M1(DeviceNames pipetteDevice, PipetteService pipetteService, TipTypeEnum tipVolume)
|
||
{
|
||
if (TestMode) return true;
|
||
ushort tipType = 7;
|
||
uint go = 0;
|
||
if (tipVolume.Equals(TipTypeEnum._300UL))//300ul slim的有滤芯的、导电的枪头
|
||
{
|
||
tipType = 9; go = 0;
|
||
}
|
||
else if (tipVolume.Equals(TipTypeEnum._50UL)) //50ul的有滤芯的、导电的枪头
|
||
{
|
||
tipType = 3;
|
||
}
|
||
else if (tipVolume.Equals(TipTypeEnum._1000UL))
|
||
{
|
||
tipType = 7;//1000ul的有滤芯的、导电的枪头
|
||
}
|
||
this.Logger.LogInformation($"{pipetteDevice}取Tip-tipType(9:300,3:50,7:1000):{tipType}");
|
||
IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
|
||
IList<uint> IdList = new List<uint>();
|
||
switch (pipetteDevice)
|
||
{
|
||
case DeviceNames.Pipette_Dose_1ml_1:
|
||
IdList = new List<uint> { 1 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_2:
|
||
IdList = new List<uint> { 2 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_3:
|
||
IdList = new List<uint> { 3 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_4:
|
||
IdList = new List<uint> { 4 };
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
dictResult = await pipetteService.TipInstall(tipType: tipType, go, IdList.ToArray());
|
||
await pipetteService.InitZaxis(); //Z轴带动泵模块向上运动到最高处
|
||
|
||
if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00") || dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "76"))
|
||
{
|
||
this.Logger.LogInformation($"{pipetteDevice}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 = $"{pipetteDevice}取Tip失败",
|
||
// Content = $"{PipetteErrorDic[errorkey]}",
|
||
// OkButtonContent = "继续",
|
||
// CancelButtonContent = "取消",
|
||
//});
|
||
WeakReferenceMessenger.Default.Send(new DesktopAlertMessage() { Header = $"{pipetteDevice}取Tip失败" , Content = $"{PipetteErrorDic[errorkey]}" });
|
||
this.Logger.LogError($"{pipetteDevice}取Tip失败,{PipetteErrorDic[errorkey]}");
|
||
await GunAllInit_M1(pipetteDevice, pipetteService);
|
||
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(DeviceNames pipetteDevice, PipetteService pipetteService)
|
||
{
|
||
if (TestMode) return;
|
||
this.Logger.LogInformation($"{pipetteDevice}丢Tip");
|
||
IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
|
||
IList<uint> IdList = new List<uint>();
|
||
switch (pipetteDevice)
|
||
{
|
||
case DeviceNames.Pipette_Dose_1ml_1:
|
||
IdList = new List<uint> { 1 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_2:
|
||
IdList = new List<uint> { 2 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_3:
|
||
IdList = new List<uint> { 3 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_4:
|
||
IdList = new List<uint> { 4 };
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
//var dictResult = await pipetteService_1ml.TipUninstall(1);
|
||
//await pipetteService_1ml.InitZaxis();
|
||
//if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
//{
|
||
// this.Logger.LogError($"{DeviceNames.Pipette_Config_1ml}丢Tip失败,{dictResult.LastOrDefault().Value}");
|
||
//}
|
||
|
||
dictResult = await pipetteService.InitPump(IdList.ToArray());
|
||
await pipetteService.InitZaxis();
|
||
|
||
if (!dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
||
{
|
||
Header = $"{pipetteDevice}丢Tip失败",
|
||
Content = $"{PipetteErrorDic[errorkey]}",
|
||
OkButtonContent = "继续",
|
||
CancelButtonContent = "取消",
|
||
});
|
||
this.Logger.LogError($"{pipetteDevice}丢Tip失败,{PipetteErrorDic[errorkey]}");
|
||
await GunAllInit_M1(pipetteDevice, pipetteService);
|
||
}
|
||
}
|
||
|
||
private async Task GunAbsorb_M1(DeviceNames pipetteDevice, PipetteService pipetteService, string liquidName, int tiporder, double absorbVolumn, SourceLiquidBottleModel sourceLiquidBottleModel)
|
||
{
|
||
if (TestMode) return;
|
||
IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
|
||
|
||
var curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_Dose>(x => x.LiquidName == liquidName && x.TipType == tiporder); //&& x.TipType == tiporder 暂时屏蔽
|
||
if (curLiqud == null || curLiqud.Count == 0)
|
||
{
|
||
curLiqud = await this.dataAccessService.LoadEntitiesAsync<Liquid_lml_Dose>(x => x.TipType == tiporder);
|
||
}
|
||
var curLiqud_M1 = curLiqud.FirstOrDefault();
|
||
curLiqud_M1.TipType = tiporder;
|
||
curLiqud_M1.LiquidVolume = (int)Math.Abs(absorbVolumn * curLiqud_M1.Ratio);
|
||
IList<uint> IdList = new List<uint>();
|
||
switch (pipetteDevice)
|
||
{
|
||
case DeviceNames.Pipette_Dose_1ml_1:
|
||
IdList = new List<uint> { 1 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_2:
|
||
IdList = new List<uint> { 2 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_3:
|
||
IdList = new List<uint> { 3 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_4:
|
||
IdList = new List<uint> { 4 };
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
this.Logger.LogInformation($"{pipetteDevice}开始吸液,吸液量{curLiqud_M1.LiquidVolume}ul");
|
||
dictResult = await OnSuckFluid(pipetteService, IdList, curLiqud_M1, 1, 1, sourceLiquidBottleModel);
|
||
|
||
//for (int i = 1; i < 3; i++) //若吸液失败，二次吸液
|
||
{
|
||
if (dictResult != null)
|
||
{
|
||
if (dictResult.All(x => this.GetPipetteReturnCode(x.Value) == "00"))
|
||
{
|
||
this.Logger.LogInformation($"{pipetteDevice}吸液成功");
|
||
await pipetteService.InitZaxis();
|
||
}
|
||
else
|
||
{
|
||
string errorkey = this.GetPipetteReturnCode(dictResult.LastOrDefault().Value);
|
||
this.Logger.LogError($"{pipetteDevice}吸液失败,{PipetteErrorDic[errorkey]}");
|
||
WeakReferenceMessenger.Default.Send(new ConfirmMessage()
|
||
{
|
||
Header = $"{pipetteDevice}吸液失败",
|
||
Content = $"{PipetteErrorDic[errorkey]}",
|
||
OkButtonContent = "继续",
|
||
CancelButtonContent = "取消",
|
||
});
|
||
await pipetteService.InitZaxis();
|
||
}
|
||
}
|
||
else
|
||
{
|
||
await pipetteService.InitZaxis();
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 1ml枪头 分液
|
||
/// </summary>
|
||
/// <param name="liquidName">液体名称</param>
|
||
/// <param name="volumn">分液体积</param>
|
||
/// <returns></returns>
|
||
private async Task GunDispensing_M1(DeviceNames pipetteDevice, PipetteService pipetteService, string liquidName, int tipOrder,uint vol, SampleBottleModel sampleBottleModel)
|
||
{
|
||
if (TestMode) return;
|
||
IDictionary<uint, string> dictResult = new Dictionary<uint, string>();
|
||
|
||
//IList<uint> listId = new List<uint>();
|
||
Liquid_lml_Dose curLiqud_M1 = new Liquid_lml_Dose();
|
||
IList<uint> IdList = new List<uint>();
|
||
switch (pipetteDevice)
|
||
{
|
||
case DeviceNames.Pipette_Dose_1ml_1:
|
||
IdList = new List<uint> { 1 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_2:
|
||
IdList = new List<uint> { 2 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_3:
|
||
IdList = new List<uint> { 3 };
|
||
break;
|
||
case DeviceNames.Pipette_Dose_1ml_4:
|
||
IdList = new List<uint> { 4 };
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
this.Logger.LogInformation($"{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;
|
||
}
|
||
|
||
}
|
||
}
|