using DataEntity;
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using DataEntity.Share;
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using DataRWDAL;
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using DriverLib.Engine;
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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.Xml;
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using XCommon;
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using XCommon.Log;
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using XCore;
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using XCoreBLL;
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using XHandler.Controls.Run.Com;
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using XHandler.View;
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using XImagingXhandler.XDAL;
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using DataCalcDAL;
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using System.Configuration;
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using HxEnum;
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using XHandler.Class.DataEx;
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using NPOI.SS.Formula.Eval;
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using DataEntity.Rack;
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using static HxEnum.OperationTypeEnum;
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using System.Reflection;
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using XHandler.View.MethodProperty;
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using MySqlX.XDevAPI.Common;
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using XImaging.Automation.Service.Interface;
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using System.Windows;
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using System.Collections.ObjectModel;
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namespace XHandler.Controls
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{
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/// <summary>
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/// 文件转板执行
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/// </summary>
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public class FileMoveLabwareControl
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{
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string strCurrentCulture = "";
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WellCalc wellCalc = new WellCalc();
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LatticeBll latticeBll = new LatticeBll();
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FileMoveLabwareBll fileMoveLabwareBll = new FileMoveLabwareBll();
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public RunWnd launchView = null;
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LiquidAccuracyBll liquidAccuracyBll = new LiquidAccuracyBll();
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WellCalcOfGripper wellCalcOfGripper= new WellCalcOfGripper();
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GripTransportBll gripTransportBll=new GripTransportBll();
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public FileMoveLabwareControl(string strCurrentCulture)
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{
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this.strCurrentCulture = strCurrentCulture;
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}
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#region 执行文件转板，返回结果字符串
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/// <summary>
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/// 执行文件转板，返回结果字符串
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/// </summary>
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/// <param name="xmlEnv">板位节点信息</param>
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/// <param name="methodNode">装载方法属性节点对象</param>
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/// <param name="zAxisVal">z轴安全距离</param>
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/// <param name="isSimulator">0:连接谁；1：仿真</param>
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/// <returns></returns>
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public bool ExecuteFileMoveLabware(XmlNode xmlEnv, XmlNode methodNode, float zAxisVal, bool isSimulator)
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{
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bool result = true;
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HxResult ret = new HxResult();
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if (launchView._cancelSource.IsCancellationRequested)
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{
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result = false;
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return result;
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}
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#region Start Log
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if (strCurrentCulture.Equals("zh-CN"))
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.MachineRunResource.strStart.ToString());
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}
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else
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】start:");
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}
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#endregion
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#region 数据准备
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var platformNodeList = xmlEnv.SelectNodes("platform");
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MethodFileMoveLabware methodFileMoveLabware = fileMoveLabwareBll.GenerateMethodFileMoveLabwareDataByXmlNode(methodNode);
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int recordAllCount = methodFileMoveLabware.transferDataTable.Rows.Count; // 文件记录总数
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int recordIndex = 0; // 循环控制总的切分次数
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TipsTable tipsTable = new TipsTable(); // 执行的孔数据对象
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#endregion
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#region 数据检查
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//只有选择夹爪臂才可以执行转板
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if (methodFileMoveLabware == null)
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodNode.SelectSingleNode("name").InnerText + "】" + Properties.RunFileMoveLiquidResource.strFileMoveLiquidDataCheckError.ToString());
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result = false;
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return result;
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}
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else
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{
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if (methodFileMoveLabware.armText.Equals("夹爪臂"))
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{
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}
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else
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{
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if (strCurrentCulture.Equals("zh-CN"))
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.RunFileMoveLabwareResource.strFileMoveLabwareArmError.ToString());
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LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.RunFileMoveLabwareResource.strFileMoveLabwareArmError.ToString());
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}
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else
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】selected arm of device isn't support pick board.");
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LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】selected arm of device isn't support pick board.");
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}
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result = false;
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return result;
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}
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}
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#endregion
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bool shakerExecuteFinish=false;// 震荡位是否执行过
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#region 数据执行
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while (recordIndex < recordAllCount)
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{
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#region 抓板处理过程
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string sourceLattice = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickLattice].ToString();
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string globalVariableValue = "";
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globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceLattice);
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if (!string.IsNullOrEmpty(globalVariableValue))
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{
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sourceLattice = globalVariableValue;
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}
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XmlNode srcPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), sourceLattice);
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if (srcPlatformNode == null&& !sourceLattice.Equals("P0"))
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{
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if (strCurrentCulture.Equals("zh-CN"))
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareOfLatticeError.ToString());
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}
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else
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the lattice of pick board is wrong! please check!");
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}
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result = false;
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return result;
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}
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else
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{
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string sourceWell = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickWell].ToString();
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string sourceColumn = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickColumn].ToString();
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globalVariableValue = "";
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globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceWell);
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if (!string.IsNullOrEmpty(globalVariableValue))
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{
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sourceWell = globalVariableValue;
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}
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globalVariableValue = "";
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globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, sourceColumn);
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if (!string.IsNullOrEmpty(globalVariableValue))
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{
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sourceColumn = globalVariableValue;
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}
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// 获取当前台面的夹爪坐标
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List<GripperCoordinate> gripperCoordinates = new List<GripperCoordinate>();
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GripperCoordinate gripperCoordinate = new GripperCoordinate();
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Labware labwares = new Labware();
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Lattice slattice = new Lattice();
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string srcLatticeId = "0";
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if (sourceColumn == "请选择" && sourceWell == "请选择")
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{
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if (strCurrentCulture.Equals("zh-CN"))
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareSettingPickCol.ToString());
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}
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else
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the column or well on picking lattice is wrong! please check!");
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}
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result = false;
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return result;
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}
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else
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{
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Labware centrifugalLabware = new Labware();
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if (sourceLattice.Equals("P0"))
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{
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gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), sourceLattice);
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gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(sourceLattice));
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string srcLabwareId = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateLabwareFromdb(gripperCoordinate.gripper_lattice_id).labware_id.ToString();//获取夹爪关联的耗材Id;
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labwares = LabwareDB.GetLabware(srcLabwareId);
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slattice.lattice_num = "P0";
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//关联孔位的耗材对象
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ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
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var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(sourceWell));
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if (targetWellOnLattice != null)
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{
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centrifugalLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
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}
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}
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else
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{
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XmlNode srcXml = srcPlatformNode.SelectSingleNode("labware[@id='" + srcPlatformNode.SelectNodes("labware").Count + "']");
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string srcLabwareId = srcXml.SelectSingleNode("labware_id").InnerText;
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srcLatticeId = srcPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名
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if (srcLatticeId == "1")
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{
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MethodShake methodShake = new MethodShake();
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methodShake.modeVal = 1;
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methodShake.shakeMoveSpeed = 50;
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methodShake.shakeMoveAngle = 230;
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launchView.SetWaitOne();//暂停
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if (!shakerExecuteFinish)
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{
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ret = new ShakerBll().ExecuteShake(methodShake, isSimulator);
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if (ret.Result != ResultType.Success)
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{
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if (strCurrentCulture.Equals("zh-CN"))
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
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LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
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}
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else
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{
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launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
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LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
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}
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result = false;
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return result;
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}
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shakerExecuteFinish = true;
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}
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}
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Lattice srcLattice = null;
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TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb(); //增加台面模板判断
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int armId = Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id;
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if (tabletopTemplate == null)
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{
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srcLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + srcLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number);
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}
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else
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{
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srcLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + srcLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
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}
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labwares = LabwareDB.GetLabware(srcLabwareId);
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// 获取当前台面的板子的坐标
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slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(srcLattice.lattice_id);
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List<TipsTable> dtWells = ControlCom.GenerateWellCoordinate(labwares, slattice); //板位孔坐标数据集
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// 获取当前台面的夹爪坐标
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gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), srcLattice.lattice_num);
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gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
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//离心管耗材对象
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if (labwares.labware_tubeshelf_type == 1)
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{
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//关联孔位的耗材对象
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ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
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var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(sourceWell));
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if (targetWellOnLattice != null)
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{
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centrifugalLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
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}
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}
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else
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{
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centrifugalLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
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}
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}
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//以孔位为目标抓取
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if (sourceWell != "请选择")
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{
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//转化成夹爪板位
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List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);
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GripperCoordinateForWell gripperPickCoordinateForWell = null;
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gripperPickCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
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&& t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]))
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&& t.wellname.Equals(sourceWell));
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int pickPart = 0;
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pickPart = Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickPart]);
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GripTransportMParam gripTransportMParam = new GripTransportMParam();
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// 判断当前的形式和角度
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gripTransportMParam.xAxisVal = (float)gripperPickCoordinateForWell.lattice_X + (float)labwares.gripper_x_offset;
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gripTransportMParam.yAxisVal = (float)gripperPickCoordinateForWell.lattice_Y + (float)labwares.gripper_y_offset;
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset;
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#region 耗材总高度
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float labwareMainHeight = 0.0f;
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float heightOfBottomLabware = 0f;//要抓的那层的底部离板位的平面距离
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//按设定的层次抓耗材
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if (methodFileMoveLabware.transportMode == (int)GripTransportModeEnum.TransportAll)
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{
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if (labwares.labware_tubeshelf_type == 0)
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{
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if (centrifugalLabware.lid_in_radius < 10d)
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height);
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}
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else
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height);
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}
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}
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else
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height);
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}
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}
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else if (methodFileMoveLabware.transportMode == (int)GripTransportModeEnum.TransportExceptOne)//总高度要增加最底层的高度
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{
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var latticeDes = xmlEnv.SelectSingleNode("platform[lattice_id=" + ControlCom.GetLatticeId(Convert.ToInt32(slattice.lattice_num), false) + "]/labware[@id=1]");
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Labware bottomLabware = new Labware();
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if (latticeDes != null)
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{
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bottomLabware = LabwareDB.GetLabware(latticeDes.SelectSingleNode("labware_id").InnerText);
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heightOfBottomLabware = (float)Convert.ToDouble(bottomLabware.piled_height);
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}
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if (labwares.labware_tubeshelf_type == 0)
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{
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if (centrifugalLabware.lid_in_radius < 10d)
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
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}
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else
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
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}
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}
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else
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{
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labwareMainHeight = (float)Convert.ToDouble(labwares.labware_height) + heightOfBottomLabware;
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}
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}
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else if (methodFileMoveLabware.transportMode == (int)GripTransportModeEnum.TransportCount)
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{
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XmlNodeList labwareNode = xmlEnv.SelectNodes("platform[lattice_id=" + ControlCom.GetLatticeId(Convert.ToInt32(slattice.lattice_num), false) + "]/labware");
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int countOfLabware = labwareNode.Count;
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int loopCount = countOfLabware - methodFileMoveLabware.transportCount + 1;
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for (int i = 1; i <= loopCount; i++)
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{
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Labware bottomLabware = new Labware();
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var latticeDes = xmlEnv.SelectSingleNode("platform[lattice_id=" + ControlCom.GetLatticeId(Convert.ToInt32(slattice.lattice_num), false) + "]/labware[@id=" + (i).ToString() + "]");
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if (latticeDes != null)
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{
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bottomLabware = LabwareDB.GetLabware(latticeDes.SelectSingleNode("labware_id").InnerText);
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heightOfBottomLabware += (float)Convert.ToDouble(bottomLabware.piled_height);
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}
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}
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if (labwares.labware_tubeshelf_type == 0)
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{
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if (centrifugalLabware.lid_in_radius < 10d)
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
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}
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else
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{
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labwareMainHeight = (float)Convert.ToDouble(centrifugalLabware.labware_height) + heightOfBottomLabware;
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}
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}
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else
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{
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labwareMainHeight = (float)Convert.ToDouble(labwares.labware_height) + heightOfBottomLabware;
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}
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}
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#endregion
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if (pickPart == 0) //抓底部
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - heightOfBottomLabware;
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gripTransportMParam.zAxisVal = gripTransportMParam.zAxisVal - heightOfBottomLabware - 1f;
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}
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else if (pickPart == 1) //抓顶部
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{
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if (srcLatticeId == "1")
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{
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if (centrifugalLabware.lid_in_radius < 10d)
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{
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if (sourceLattice.Equals("P0"))
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset + 8f;
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}
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else
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset + 13f;
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}
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}
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else
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset;
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}
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}
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else
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{
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if (centrifugalLabware.lid_in_radius < 10d)
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{
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if (sourceLattice.Equals("P0"))
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset+12f;
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}
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else
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset + 0f;
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}
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}
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else
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{
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gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset - labwareMainHeight + (float)centrifugalLabware.gripper_z_offset;
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}
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}
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}
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gripTransportMParam.angleVal = (float)gripperPickCoordinateForWell.gripper_rotational;
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gripTransportMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
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gripTransportMParam.squeezeVal = (float)gripperPickCoordinateForWell.squeezeVal;
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gripTransportMParam.spreadVal = (float)gripperPickCoordinateForWell.spreadVal;
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gripTransportMParam.gripSpeed = (float)gripperPickCoordinateForWell.gripSpeed;
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gripTransportMParam.gripModel = Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]);
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gripTransportMParam.gripState = 1; // 请求夹爪的状态：1：向内夹紧；2：向外张开
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gripTransportMParam.gripperpowerVal = (float)gripperPickCoordinateForWell.gripperpowerVal;
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gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPickCoordinateForWell.objectwidth);
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//调用抓取方法
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launchView.SetWaitOne();//暂停
|
ret = gripTransportBll.ExecuteGripTransportPick(gripTransportMParam, isSimulator);
|
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string log = string.Empty;
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if (ret.Result != ResultType.Success)
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
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methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickError, ret.AlarmInfo, Properties.Resources.strBoardPosition, sourceWell, slattice.lattice_num);
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launchView.AddLogs(log);
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}
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else
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{
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log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
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methodFileMoveLabware.name, ret.AlarmInfo, sourceWell, slattice.lattice_num);
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launchView.AddLogs(log);
|
}
|
|
OperateDialog plsConfirmOper = null;
|
Application.Current.Dispatcher.Invoke(new Action(() =>
|
{
|
plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPickFailWhatToDo : "The action of pick was fail! What do you want to do?");
|
plsConfirmOper.ShowDialog();
|
}));
|
|
if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry) // 重试
|
{
|
return ExecutePickAgain(methodFileMoveLabware, recordIndex, labwares, sourceWell, heightOfBottomLabware, slattice, gripTransportMParam, isSimulator);
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel) // 终止
|
{
|
result = false;
|
return result;
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue) // 跳过
|
{
|
result = true;
|
return result;
|
}
|
}
|
else
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickOk, Properties.Resources.strBoardPosition, slattice.lattice_num, sourceWell);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, slattice.lattice_num, sourceWell);
|
launchView.AddLogs(log);
|
}
|
}
|
}
|
else
|
//以板列为目标抓取
|
{
|
|
}
|
}
|
|
}
|
|
#endregion
|
|
#region 放板处理过程
|
string targetLattice = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeLattice].ToString();
|
globalVariableValue = "";
|
globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetLattice);
|
if (!string.IsNullOrEmpty(globalVariableValue))
|
{
|
targetLattice = globalVariableValue;
|
}
|
XmlNode tarPlatformNode = ComUtility.GetXmlNodeByBoardName(xmlEnv.SelectNodes("platform"), targetLattice);
|
if (tarPlatformNode == null&&!targetLattice.Equals("P0"))
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareOfLatticeError.ToString());
|
}
|
else
|
{
|
launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the lattice of place board is wrong! please check!");
|
}
|
result = false;
|
return result;
|
}
|
else
|
{
|
List<GripperCoordinate> gripperCoordinates = new List<GripperCoordinate>();
|
GripperCoordinate gripperCoordinate = new GripperCoordinate();
|
Labware labwares = new Labware();
|
Lattice slattice = new Lattice();
|
string tarLatticeId = "0";
|
string targetWell = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeWell].ToString();
|
string targetColumn = methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeColumn].ToString();
|
globalVariableValue = "";
|
globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetWell);
|
if (!string.IsNullOrEmpty(globalVariableValue))
|
{
|
targetWell = globalVariableValue;
|
}
|
|
globalVariableValue = "";
|
globalVariableValue = ControlCom.SearchValueOfGlobalVariable(launchView, targetColumn);
|
if (!string.IsNullOrEmpty(globalVariableValue))
|
{
|
targetColumn = globalVariableValue;
|
}
|
if (targetColumn == "请选择" && targetWell == "请选择")
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunFileMoveLabwareResource.strFileMoveLabwareSettingPlaceCol.ToString());
|
}
|
else
|
{
|
launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodFileMoveLabware.name + "】progress: the column or well on placing lattice is wrong! please check!");
|
}
|
result = false;
|
return result;
|
}
|
else
|
{
|
Labware centrifugalTargetLabware = new Labware();
|
if (targetLattice.Equals("P0"))
|
{
|
gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), targetLattice);
|
gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(targetLattice));
|
string tarLabwareId = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateLabwareFromdb(gripperCoordinate.gripper_lattice_id).labware_id.ToString();//获取夹爪关联的耗材Id;
|
labwares = LabwareDB.GetLabware(tarLabwareId);
|
slattice.lattice_num = "P0";
|
//关联孔位的耗材对象
|
ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
|
var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(targetWell));
|
if(targetWellOnLattice!=null)
|
{
|
centrifugalTargetLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
|
}
|
}
|
else
|
{
|
XmlNode tarXml = tarPlatformNode.SelectSingleNode("labware[@id='" + tarPlatformNode.SelectNodes("labware").Count + "']");
|
string tarLabwareId = tarXml.SelectSingleNode("labware_id").InnerText;
|
tarLatticeId = tarPlatformNode.SelectSingleNode("lattice_id").InnerText;//被截掉"P"的板位编号名
|
if (tarLatticeId == "1")
|
{
|
MethodShake methodShake = new MethodShake();
|
methodShake.modeVal = 1;
|
methodShake.shakeMoveSpeed = 50;
|
methodShake.shakeMoveAngle = 230;
|
|
launchView.SetWaitOne();//暂停
|
if (!shakerExecuteFinish)
|
{
|
ret = new ShakerBll().ExecuteShake(methodShake, isSimulator);
|
if (ret.Result != ResultType.Success)
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
|
LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.RunShakeResource.strShakeMoveFailed.ToString() + ret.AlarmInfo);
|
}
|
else
|
{
|
launchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
|
LoggerRunHelper.InfoLog("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodFileMoveLabware.name + "】progress: shake was failed! Error info：" + ret.AlarmInfo);
|
}
|
result = false;
|
return result;
|
}
|
shakerExecuteFinish = true;
|
}
|
}
|
|
Lattice tarLattice = null;
|
TabletopTemplate tabletopTemplate = TabletopTemplateDB.GetCurrentAppTabletopTemplateCollectionFromdb(); //增加台面模板判断
|
int armId = Shared.DeviceArmList.FirstOrDefault(x => x.arm_type.Equals(1)).device_arm_id;
|
if (tabletopTemplate == null)
|
{
|
tarLattice = LatticeDB.GetLatticeDataByIdFromdb("P" + tarLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number);
|
}
|
else
|
{
|
tarLattice = LatticeDB.GetLatticeDataByLatticeNumAndTempIdFromdb("P" + tarLatticeId, Convert.ToInt32(armId), Shared.SoftwareInformation.software_device_number, tabletopTemplate.tabletopid);
|
}
|
|
labwares = LabwareDB.GetLabware(tarLabwareId);
|
|
// 获取当前台面的板子的坐标
|
slattice = DataRWDAL.LatticeDB.GetLatticeDataByIdFromdb(tarLattice.lattice_id);
|
if (labwares.labware_tubeshelf_type == 1)
|
{
|
//关联孔位的耗材对象
|
ObservableCollection<LabwareWellInfo> labwareWellInfoList = DataRWDAL.LabwareDB.GetSpecialLabwareWellInfo(labwares.labware_id);
|
var targetWellOnLattice = labwareWellInfoList.SingleOrDefault(x => x.labware_well_name.Equals(targetWell));
|
if (targetWellOnLattice != null)
|
{
|
centrifugalTargetLabware = LabwareDB.GetLabware(targetWellOnLattice.well_labware_id);
|
}
|
}
|
else
|
{
|
//离心管耗材对象
|
centrifugalTargetLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
|
}
|
}
|
|
////离心管耗材对象
|
//Labware centrifugalTargetLabware = ControlCom.GetCentrifugalLabwer(labwares.piled_script);
|
//求出目标板位上的现有耗材总高度
|
float labwareMainHeight = 0.0f;
|
float heightOfBottomLabware = 0f;//要抓的那层的底部离板位的平面距离
|
|
XmlNodeList labwareNode = xmlEnv.SelectNodes("platform[lattice_id=" + slattice.lattice_num.Substring(1) + "]/labware");
|
int countOfLabware = labwareNode.Count;
|
int loopCount = countOfLabware;
|
for (int i = 1; i <= loopCount; i++)
|
{
|
Labware bottomLabware = new Labware();
|
var latticeDes = xmlEnv.SelectSingleNode("platform[lattice_id=" + slattice.lattice_num.Substring(1) + "]/labware[@id=" + (i).ToString() + "]");
|
|
if (latticeDes != null)
|
{
|
bottomLabware = LabwareDB.GetLabware(latticeDes.SelectSingleNode("labware_id").InnerText);
|
heightOfBottomLabware += (float)Convert.ToDouble(bottomLabware.piled_height);
|
}
|
}
|
|
if (labwares.labware_tubeshelf_type == 0)
|
{
|
if (centrifugalTargetLabware.lid_in_radius < 10d)
|
{
|
labwareMainHeight = (float)Convert.ToDouble(centrifugalTargetLabware.labware_height);
|
}
|
else
|
{
|
labwareMainHeight = (float)Convert.ToDouble(centrifugalTargetLabware.labware_height);
|
}
|
}
|
else
|
{
|
|
labwareMainHeight = (float)Convert.ToDouble(centrifugalTargetLabware.labware_height) + heightOfBottomLabware;
|
}
|
|
// 获取当前台面的夹爪坐标
|
gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), slattice.lattice_num);
|
|
gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
|
|
|
//以孔位为目标放置
|
if (targetWell != "请选择")
|
{
|
//转化成夹爪板位
|
List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);
|
GripperCoordinateForWell gripperPlaceCoordinateForWell = null;
|
gripperPlaceCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
|
&& t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.placeColumn]))
|
&& t.wellname.Equals(targetWell));
|
|
GripTransportMParam gripTransportMParam = new GripTransportMParam();
|
|
|
// 判断当前的形式和角度
|
gripTransportMParam.xAxisVal = (float)gripperPlaceCoordinateForWell.lattice_X + (float)labwares.gripper_x_offset;
|
gripTransportMParam.yAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Y + (float)labwares.gripper_y_offset;
|
gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z + (float)labwares.gripper_z_offset;
|
if (tarLatticeId == "1")
|
{
|
//if (centrifugalTargetLabware.lid_in_radius < 10d)
|
//{
|
gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight;
|
//}
|
}
|
else
|
{
|
if (centrifugalTargetLabware.lid_in_radius < 10d)
|
{
|
if (targetLattice.Equals("P0"))
|
{
|
gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalTargetLabware.gripper_z_offset+8f;
|
}
|
else
|
{
|
gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalTargetLabware.gripper_z_offset - 10f;
|
}
|
}
|
else
|
{
|
gripTransportMParam.zAxisVal = (float)gripperPlaceCoordinateForWell.lattice_Z - labwareMainHeight + (float)centrifugalTargetLabware.gripper_z_offset-3f;
|
}
|
}
|
gripTransportMParam.angleVal = (float)gripperPlaceCoordinateForWell.gripper_rotational;
|
gripTransportMParam.basezAxisVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
|
gripTransportMParam.squeezeVal = (float)gripperPlaceCoordinateForWell.squeezeVal;
|
gripTransportMParam.spreadVal = (float)gripperPlaceCoordinateForWell.spreadVal;
|
gripTransportMParam.gripSpeed = (float)gripperPlaceCoordinateForWell.gripSpeed;
|
gripTransportMParam.gripModel = Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]);
|
gripTransportMParam.gripState = 2; // 请求夹爪的状态：1：向内夹紧；2：向外张开
|
gripTransportMParam.gripperpowerVal = (float)gripperPlaceCoordinateForWell.gripperpowerVal;
|
gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPlaceCoordinateForWell.objectwidth);
|
|
//调用抓取方法
|
launchView.SetWaitOne();//暂停
|
ret = gripTransportBll.ExecuteGripTransportPlace(gripTransportMParam, isSimulator);
|
|
string log = string.Empty;
|
if (ret.Result != ResultType.Success)
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlacekError, ret.AlarmInfo, Properties.Resources.strBoardPosition, targetWell, slattice.lattice_num);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, ret.AlarmInfo, targetWell, slattice.lattice_num);
|
launchView.AddLogs(log);
|
}
|
|
OperateDialog plsConfirmOper = null;
|
Application.Current.Dispatcher.Invoke(new Action(() =>
|
{
|
plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPlaceFailWhatToDo : "The action of pick was fail! What do you want to do?");
|
plsConfirmOper.ShowDialog();
|
}));
|
|
if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry) // 重试
|
{
|
return ExecutePlaceAgain(methodFileMoveLabware, recordIndex, labwares, targetWell, heightOfBottomLabware, slattice, gripTransportMParam, isSimulator);
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel) // 终止
|
{
|
result = false;
|
return result;
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue) // 跳过
|
{
|
result = true;
|
return result;
|
}
|
}
|
else
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlaceOk, Properties.Resources.strBoardPosition, slattice.lattice_num, targetWell);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, slattice.lattice_num, targetWell);
|
launchView.AddLogs(log);
|
}
|
}
|
}
|
else
|
//以板列为目标抓取
|
{
|
|
}
|
}
|
}
|
#endregion
|
|
recordIndex = recordIndex + 1;
|
}
|
|
#endregion
|
|
return result;
|
}
|
#endregion
|
|
#region 抓板失败后循环函数
|
public bool ExecutePickAgain(MethodFileMoveLabware methodFileMoveLabware,int recordIndex, Labware labwares,string sourceWell,float heightOfBottomLabware, Lattice slattice, GripTransportMParam pickMParam, bool isSimulator)
|
{
|
HxResult ret = null;
|
bool result = true;
|
|
List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), slattice.lattice_num);
|
GripperCoordinate gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
|
//转化成夹爪板位
|
List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);
|
|
GripperCoordinateForWell gripperPickCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
|
&& t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]))
|
&& t.wellname.Equals(sourceWell));
|
|
GripTransportMParam gripTransportMParam = new GripTransportMParam();
|
|
gripTransportMParam.xAxisVal = pickMParam.xAxisVal;
|
gripTransportMParam.yAxisVal = pickMParam.yAxisVal;
|
|
gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - heightOfBottomLabware;
|
gripTransportMParam.zAxisVal = gripTransportMParam.zAxisVal - heightOfBottomLabware - 1f;
|
|
gripTransportMParam.angleVal = pickMParam.angleVal;
|
gripTransportMParam.basezAxisVal = pickMParam.basezAxisVal;
|
gripTransportMParam.squeezeVal = (float)gripperPickCoordinateForWell.squeezeVal;
|
gripTransportMParam.spreadVal = (float)gripperPickCoordinateForWell.spreadVal;
|
gripTransportMParam.gripSpeed = (float)gripperPickCoordinateForWell.gripSpeed;
|
gripTransportMParam.gripModel = pickMParam.gripModel;
|
gripTransportMParam.gripState = 1; // 请求夹爪的状态：1：向内夹紧；2：向外张开
|
gripTransportMParam.gripperpowerVal = (float)gripperPickCoordinateForWell.gripperpowerVal;
|
gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPickCoordinateForWell.objectwidth);
|
|
//调用抓取方法
|
launchView.SetWaitOne();//暂停
|
ret = gripTransportBll.ExecuteGripTransportPick(gripTransportMParam, isSimulator);
|
|
string log = string.Empty;
|
if (ret.Result != ResultType.Success)
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickError, ret.AlarmInfo, Properties.Resources.strBoardPosition, sourceWell, slattice.lattice_num);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3} well:{4}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, ret.AlarmInfo, sourceWell, slattice.lattice_num,sourceWell);
|
launchView.AddLogs(log);
|
}
|
|
OperateDialog plsConfirmOper = null;
|
Application.Current.Dispatcher.Invoke(new Action(() =>
|
{
|
plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPickFailWhatToDo : "The action of pick was fail! What do you want to do?");
|
plsConfirmOper.ShowDialog();
|
}));
|
|
if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry) // 重试
|
{
|
return ExecutePickAgain(methodFileMoveLabware, recordIndex, labwares, sourceWell, heightOfBottomLabware, slattice, pickMParam, isSimulator);
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel) // 终止
|
{
|
result = false;
|
return result;
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue) // 跳过
|
{
|
result = true;
|
return result;
|
}
|
}
|
else
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPickOk, Properties.Resources.strBoardPosition,slattice.lattice_num,sourceWell);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2} well:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, slattice.lattice_num, sourceWell);
|
launchView.AddLogs(log);
|
}
|
}
|
return result;
|
}
|
#endregion
|
|
#region 放板失败后循环函数
|
public bool ExecutePlaceAgain(MethodFileMoveLabware methodFileMoveLabware, int recordIndex, Labware labwares, string targetWell, float heightOfBottomLabware, Lattice slattice, GripTransportMParam pickMParam, bool isSimulator)
|
{
|
HxResult ret = null;
|
bool result = true;
|
|
List<GripperCoordinate> gripperCoordinates = DataRWDAL.GripperCoordinateDB.GetAGripperCoordinateFromdb(Shared.SoftwareInformation.software_information_id, Convert.ToInt32(methodFileMoveLabware.armValue), slattice.lattice_num);
|
GripperCoordinate gripperCoordinate = gripperCoordinates.SingleOrDefault(x => x.lattice_num.Equals(slattice.lattice_num));
|
//转化成夹爪板位
|
List<GripperCoordinateForWell> gripperCoordinateForWells = wellCalcOfGripper.GetReallyWellsLabwareCoordinatesOnLattice(labwares, gripperCoordinate);
|
|
GripperCoordinateForWell gripperPickCoordinateForWell = gripperCoordinateForWells.SingleOrDefault(t => t.lattice_num.Equals(slattice.lattice_num)
|
&& t.gripper_model.Equals(Convert.ToInt32(methodFileMoveLabware.transferDataTable.Rows[recordIndex][methodFileMoveLabware.pickDirect]))
|
&& t.wellname.Equals(targetWell));
|
|
GripTransportMParam gripTransportMParam = new GripTransportMParam();
|
|
gripTransportMParam.xAxisVal = pickMParam.xAxisVal;
|
gripTransportMParam.yAxisVal = pickMParam.yAxisVal;
|
|
gripTransportMParam.zAxisVal = (float)gripperPickCoordinateForWell.lattice_Z - heightOfBottomLabware;
|
gripTransportMParam.zAxisVal = gripTransportMParam.zAxisVal - heightOfBottomLabware - 1f;
|
|
gripTransportMParam.angleVal = pickMParam.angleVal;
|
gripTransportMParam.basezAxisVal = pickMParam.basezAxisVal;
|
gripTransportMParam.squeezeVal = (float)gripperPickCoordinateForWell.squeezeVal;
|
gripTransportMParam.spreadVal = (float)gripperPickCoordinateForWell.spreadVal;
|
gripTransportMParam.gripSpeed = (float)gripperPickCoordinateForWell.gripSpeed;
|
gripTransportMParam.gripModel = pickMParam.gripModel;
|
gripTransportMParam.gripState = 1; // 请求夹爪的状态：1：向内夹紧；2：向外张开
|
gripTransportMParam.gripperpowerVal = (float)gripperPickCoordinateForWell.gripperpowerVal;
|
gripTransportMParam.objectWidth = (float)Convert.ToDouble(gripperPickCoordinateForWell.objectwidth);
|
|
//调用抓取方法
|
launchView.SetWaitOne();//暂停
|
ret = gripTransportBll.ExecuteGripTransportPick(gripTransportMParam, isSimulator);
|
|
string log = string.Empty;
|
if (ret.Result != ResultType.Success)
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}.{5}{6} of {7}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlacekError, ret.AlarmInfo, Properties.Resources.strBoardPosition, targetWell, slattice.lattice_num);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is fail! error information:{2}.lattice:{3} well:{4}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, ret.AlarmInfo, targetWell, slattice.lattice_num, targetWell);
|
launchView.AddLogs(log);
|
}
|
|
OperateDialog plsConfirmOper = null;
|
Application.Current.Dispatcher.Invoke(new Action(() =>
|
{
|
plsConfirmOper = new OperateDialog(strCurrentCulture.Equals("zh-CN") ? Properties.GripTransportResource.strPlaceFailWhatToDo : "The action of pick was fail! What do you want to do?");
|
plsConfirmOper.ShowDialog();
|
}));
|
|
if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Retry) // 重试
|
{
|
return ExecutePlaceAgain(methodFileMoveLabware, recordIndex, labwares, targetWell, heightOfBottomLabware, slattice, pickMParam, isSimulator);
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Cancel) // 终止
|
{
|
result = false;
|
return result;
|
}
|
else if (plsConfirmOper != null && plsConfirmOper.OperMark == NodeOperationTypeEnum.Continue) // 跳过
|
{
|
result = true;
|
return result;
|
}
|
}
|
else
|
{
|
if (strCurrentCulture.Equals("zh-CN"))
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】{2}{3}{4}{5} of {6}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, Properties.MachineRunResource.strProgress, Properties.GripTransportResource.strPlaceOk, Properties.Resources.strBoardPosition, slattice.lattice_num, targetWell);
|
launchView.AddLogs(log);
|
}
|
else
|
{
|
log = string.Format("【{0}】>Xhandler: 【{1}】progress: the action of pick is success! lattice:{2} well:{3}", DateTime.Now.ToString("HH:mm:ss:fff"),
|
methodFileMoveLabware.name, slattice.lattice_num, targetWell);
|
launchView.AddLogs(log);
|
}
|
}
|
return result;
|
}
|
#endregion
|
}
|
}
|
