using DataEntity.Rack;
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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 HxEnum;
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using HxSocket;
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Configuration;
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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 XHandler.Controls.Run.Com;
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using XHandler.View;
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using XImagingXhandler.XDAL;
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using static HxEnum.OtherEnum;
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namespace XHandler.Controls
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{
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/// <summary>
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/// 挑选转板控制逻辑类
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/// </summary>
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public class ChoiceTransferControl
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{
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#region 变量
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// 系统语言
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private string m_currentCulture = string.Empty;
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private WellCalc wellCalc = new WellCalc();
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#region 挑菌用变量
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public static MethodChoiceAndTransfer ChoiceData = null;
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// 当前孔在所有有效孔中的排序
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private static int CurValidWellIndex = -1;
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// 全部有效孔位list：A1、B1、C1
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private static List<string> LstAllValidWells = new List<string>();
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// 挑菌台面位置
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private static string ChoiceLatticeName = string.Empty;
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// 菌落信息
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public static Bacteria BacteriaInfo = null;
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private static XmlNode XmlEnv = null;
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private bool IsSimulator = false;
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#endregion
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#region BLL
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private CoatingFileBll coatingFileBll = new CoatingFileBll();
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private BacteriaBll bacteriaBll = new BacteriaBll();
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public static ChoiceBll choiceBll = new ChoiceBll();
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#endregion
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// 运行界面
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public static RunWnd LaunchView = null;
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public HxSocketClient SocketTcpClientToRemote = null;
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#endregion
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/// <summary>
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/// 构造函数
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/// </summary>
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public ChoiceTransferControl()
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{
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m_currentCulture = Shared.SoftwareInformation.currentculture;
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}
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#region 执行挑选转板
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/// <summary>
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/// 执行挑选转板
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/// </summary>
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/// <param name="xmlEnv"></param>
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/// <param name="methodNode"></param>
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/// <param name="isSimulator"></param>
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/// <returns>0:异常结束, 1:正常继续(跳出for)，2:正常结束</returns>
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public int ExecuteChoiceTransfer(XmlDocument xmlDocument, XmlNode methodNode, bool isSimulator)
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{
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int nResult = 2;
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bool bResult = false;
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this.IsSimulator = isSimulator;
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string strMethodName = methodNode.SelectSingleNode("name").InnerText;
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#region 任务被取消
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if (LaunchView._cancelSource.IsCancellationRequested)
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{
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nResult = 0;
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return nResult;
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}
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#endregion
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XmlEnv = xmlDocument.SelectSingleNode("root/env");
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#region Log
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if (m_currentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + 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: 【" + strMethodName + "】start:");
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}
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#endregion
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try
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{
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#region 数据准备1
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ChoiceData = choiceBll.GenerateMethodChoiceAndTransferDataByXmlNode(methodNode);
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XmlNode curChoiceLabNode = null; // 当前挑菌板位的台面信息
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string curValidWell = string.Empty; // 当前挑菌的孔位：A1
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List<string> lstResidueValidWells = new List<string>(); // 剩余有效孔位list：B1、C1
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ChoiceLatticeName = string.Empty; // 挑菌台面位置
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string choiceLabwareBarcode = string.Empty; // 挑菌耗材条码
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int nLatticeid = -1; // 挑菌板位lattice_id
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// Z轴安全位置
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float zAxisSafeVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
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BacteriaInfo = bacteriaBll.GetABacteria(ChoiceData.bacteriaValue);
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LoggerHelper.InfoLog($"[ChoiceTransferControl]:Args: {JsonConvert.SerializeObject(ChoiceData)}");
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#endregion
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#region 获取挑菌类型所有效的孔
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ResidueValidWells residueValidWells = GetResidueValidWells();
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if (residueValidWells == null)
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + strMethodName + "】" + Properties.ChoiceResource.strNoValidWells.ToString());
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nResult = 1;
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return nResult;
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}
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curChoiceLabNode = residueValidWells.CurChoiceLabNode;
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lstResidueValidWells = residueValidWells.LstResidueValidWells;
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#endregion
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#region 数据准备2
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// 全部有效孔list
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string allValidWells = curChoiceLabNode.SelectSingleNode("allValidWells").InnerText;
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LstAllValidWells = ComUtility.GetValidWells(allValidWells);
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// 当前挑菌的孔位
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curValidWell = lstResidueValidWells[0];
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// 当前孔在所有有效孔中的排序
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CurValidWellIndex = LstAllValidWells.IndexOf(curValidWell);
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// 挑菌板位：Px
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ChoiceLatticeName = curChoiceLabNode.SelectSingleNode("labware_sname").InnerText;
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// 挑菌耗材条码
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choiceLabwareBarcode = curChoiceLabNode.SelectSingleNode("labware_barcode").InnerText;
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// 挑菌板位lattice_id
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nLatticeid = ControlCom.GetLatticeId(Convert.ToInt32(curChoiceLabNode.SelectSingleNode("lattice_id").InnerText));
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#endregion
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#region 自动开盖
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// 自动开挑选板盖
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bResult = OpenClover(XmlEnv, isSimulator);
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if (!bResult)
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{
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nResult = 0;
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return nResult;
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}
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// 查找涂布转板方法
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XmlNodeList xmlNodeMethodList = xmlDocument.SelectNodes("root/method[label='涂布转板']");
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if (xmlNodeMethodList.Count > 0)
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{
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// 自动开涂布板盖
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CoatingTransferControl.LaunchView = LaunchView;
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bResult = CoatingTransferControl.OpenClover(XmlEnv, xmlNodeMethodList[0], isSimulator);
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if (!bResult)
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{
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nResult = 0;
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return nResult;
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}
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}
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#endregion
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#region 超声探测
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// 超声已开启
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if (CurValidWellIndex == 0 && ChoiceData.isEnableultrasonic)
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{
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// 超声探测
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int nRtn = ControlCom.DoUltrasonic(LaunchView, XmlEnv, methodNode, isSimulator, ChoiceLatticeName);
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if (nRtn == 2) // 2：停止
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{
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nResult = 0;
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return nResult;
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}
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}
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#endregion
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#region 安装涂布头
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//先去安装枪头
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float tipoffsetLength = float.Parse(methodNode.SelectSingleNode("choiceOffset").InnerText);
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bool bLoadTipResult = ControlCom.LoadTipAutomation(XmlEnv.SelectNodes("platform"), methodNode,
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isSimulator, LaunchView, SocketTcpClientToRemote, tipoffsetLength);
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#endregion
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#region 挑选参数
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// 获取板位坐标
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Lattice latticeChoice = LatticeDB.GetLatticeDataByIdFromdb(nLatticeid.ToString());
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// 获取耗材信息
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Labware labwares = LabwareDB.GetLabware(ChoiceData.choiceLabwareValue);
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// 获取板位孔的坐标数据
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List<TipsTable> lstTipsTable = ControlCom.GenerateWellCoordinate(labwares, latticeChoice);
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// 获取耗材上指定孔位的坐标
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TipsTable targetWellInfo = lstTipsTable.SingleOrDefault(t => t.lattice_id.Equals(nLatticeid.ToString())
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&& t.labware_id.Equals(ChoiceData.choiceLabwareValue)
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&& t.wellname.Equals(curValidWell));
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#endregion
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#region 挑菌前吸液
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if (ChoiceData.choiceAgoAspirateData.bEnableBeforeAspirate)
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{
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string wellName = string.Empty;
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string labwareId = string.Empty;
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ChoiceData.choiceAgoAspirateData.armValue = ChoiceData.armValue;
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// 吸液用来源板的参数
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if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode)) // 吸液
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{
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wellName = curValidWell;
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labwareId = ChoiceData.choiceLabwareValue;
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}
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else
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{
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wellName = ChoiceData.choiceAgoAspirateData.wellarray;
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labwareId = ChoiceData.choiceAgoAspirateData.labwareValue;
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}
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// 挑菌前吸液
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Lattice latticeBeforeAspirate = null;
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if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode)) // 吸液
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{
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ChoiceData.choiceAgoAspirateData.labwareValue = ChoiceData.choiceLabwareValue; // 吸液耗材Id
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ChoiceData.choiceAgoAspirateData.positionValue = nLatticeid.ToString(); // 吸液板位Id
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}
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// 获取台面板位信息
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latticeBeforeAspirate = LatticeDB.GetLatticeDataByIdFromdb(ChoiceData.choiceAgoAspirateData.positionValue);
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// 吸液
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bool bBeforeAspirate = ControlCom.DoBeforeAspirate(LaunchView, XmlEnv, strMethodName,
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ChoiceData.choiceAgoAspirateData, latticeBeforeAspirate,
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wellName, labwareId, choiceLabwareBarcode, isSimulator);
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if (!bBeforeAspirate)
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{
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nResult = 0;
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return nResult;
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}
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// 吸液用来源板的参数
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if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode)) // 吸液
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{
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// 更新挑菌孔位
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UpdateChoiceWellData(lstResidueValidWells, curChoiceLabNode);
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}
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}
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#endregion
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#region 挑选
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// 吸液以外
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if (ChoiceData.choiceMode != EnumManagement.GetEnumValue(ChoiceModeEnum.AspirateMode))
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{
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#region 执行挑选动作
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ChoiceMParam choiceMParam = new ChoiceMParam();
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choiceMParam.xAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_X.ToString()) +
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float.Parse(BacteriaInfo.choice_xaxis_distance.ToString());
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choiceMParam.yAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_Y.ToString()) +
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float.Parse(BacteriaInfo.choice_yaxis_distance.ToString());
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choiceMParam.xAxisOffsetVal = 0;
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choiceMParam.yAxisOffsetVal = 0;
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choiceMParam.armId = Convert.ToInt32(ChoiceData.armValue);
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choiceMParam.channelId = 1;
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choiceMParam.choiceMode = ChoiceData.choiceMode; // 挑菌模式:1：单选; 2：穿刺; 3：吸放液; 4：放液
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choiceMParam.basezAxisVal = zAxisSafeVal;
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choiceMParam.enableSupersonic = ChoiceData.isEnableultrasonic; // 挑菌时是否开启超声波探测值作为Z轴值：true：用；false：不用
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choiceMParam.currentLengthOfTip = ControlCom.CurrentLengthOfTip; // 当前挑菌安装枪头后，枪增加的长度
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choiceMParam.choiceTimeOnSameplace = 1; // 同一个菌落点第几次挑选；1：第一次；2：第二次...
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choiceMParam.latticeName = ChoiceLatticeName; // 挑菌板位名称
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if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.SigleSelectMode)) // 单选
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{
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choiceMParam.xAxisOffsetVal = 0;
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choiceMParam.yAxisOffsetVal = 0;
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choiceMParam.zAxisVal = (float)targetWellInfo.axis_b_Z - float.Parse(BacteriaInfo.choice_position_distance.ToString());
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}
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else if (ChoiceData.choiceMode == EnumManagement.GetEnumValue(ChoiceModeEnum.PricksMode)) // 穿刺
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{
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choiceMParam.xAxisOffsetVal = float.Parse(BacteriaInfo.choice_xaxis_distance.ToString());
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choiceMParam.yAxisOffsetVal = float.Parse(BacteriaInfo.choice_yaxis_distance.ToString());
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// 丝状真菌-固定高度挑菌:板位Z高度 - 底孔高度 - 枪头突出高度 - 挑菌位置距离
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choiceMParam.zAxisVal = (float)latticeChoice.lattice_Z - (float)Convert.ToDouble(labwares.well_bottom_height) -
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ControlCom.CurrentLengthOfTip - (float)BacteriaInfo.choice_position_distance;
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}
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// 执行挑菌动作
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bool bIsOk = ControlCom.RunChoice(LaunchView, strMethodName, choiceMParam, targetWellInfo.wellname,
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ChoiceLatticeName, choiceLabwareBarcode, isSimulator, targetWellInfo);
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if (!bIsOk)
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{
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return 0;
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}
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#endregion
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// 更新挑菌孔位
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UpdateChoiceWellData(lstResidueValidWells, curChoiceLabNode);
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}
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#endregion
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}
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catch (Exception ex)
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{
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LoggerHelper.ErrorLog("ERROR:", ex);
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#region Exception
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + strMethodName + "】error:source:" + ex.Source + ";error:" + ex.Message + ";");
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nResult = 0;
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#endregion
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}
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return nResult;
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}
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/// <summary>
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/// 获取挑菌类型所有效的孔
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/// </summary>
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/// <returns></returns>
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public static ResidueValidWells GetResidueValidWells()
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{
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ResidueValidWells residueValidWells = null;
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List<string> lstResidueValidWells = new List<string>(); // 剩余有效孔位list：B1、C1
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// 生成和挑菌耗材类型一致的条件
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string strChoiceLabwareWhere = string.Format("platform[labware_id='{0}']", ChoiceData.choiceLabwareValue);
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// 获取满足挑菌耗材类型的所有台面点位
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XmlNodeList choiceLabwareNodeList = XmlEnv.SelectNodes(strChoiceLabwareWhere);
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// 循环台面耗材点位，查找
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foreach (XmlNode choiceLabwareNodeItem in choiceLabwareNodeList)
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{
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string strResidueValidWells = choiceLabwareNodeItem.SelectSingleNode("residueValidWells").InnerText;
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// 有效孔字符串转换成List
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lstResidueValidWells = ComUtility.GetValidWells(strResidueValidWells);
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if (lstResidueValidWells.Count == 0)
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{
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continue;
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}
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residueValidWells = new ResidueValidWells();
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residueValidWells.CurChoiceLabNode = choiceLabwareNodeItem;
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residueValidWells.LstResidueValidWells = lstResidueValidWells;
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break;
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}
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return residueValidWells;
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}
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#endregion
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#region 自动开挑选板盖
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/// <summary>
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/// 自动开挑选板盖
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/// </summary>
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/// <param name="xmlEnv"></param>
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/// <param name="isSimulator"></param>
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/// <returns></returns>
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public static bool OpenClover(XmlNode xmlEnv, bool isSimulator)
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{
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bool bResult = true;
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// 自动开盖: 当前孔是第一个有效孔
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if (ChoiceData != null &&
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ChoiceData.autoOpenCloseCover == 1 &&
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CurValidWellIndex == 0)
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{
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// 挑菌的板放盖位号：P2,P3
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List<string> listCoatingCoverLatticeId = ComUtility.GetPlateCoverLatticeName();
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// 转移板盖到放盖位方法
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string strTransferPlateCoverMethodFileName = AppDomain.CurrentDomain.BaseDirectory +
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"\\" + ConfigurationManager.AppSettings["transferDesPlateCoverMethod"].ToString();
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// 转移目标板的盖到放盖位：PX->P2
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bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, ChoiceLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right,
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listCoatingCoverLatticeId[0], PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, LaunchView, TransferTypeEnum.Open);
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return bResult;
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}
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return bResult;
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}
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/// <summary>
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/// 自动关挑选板盖
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/// </summary>
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/// <param name="xmlEnv"></param>
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/// <param name="isSimulator"></param>
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/// <param name="isForceCloseClover">是否强制关盖</param>
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/// <returns></returns>
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public static bool CloseClover(XmlNode xmlEnv, bool isSimulator, bool isForceCloseClover = false)
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{
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bool bResult = true;
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// 自动关盖: 当前孔是第最后一个有效孔
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if (ChoiceData != null &&
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ChoiceData.autoOpenCloseCover == 1 &&
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((CurValidWellIndex == LstAllValidWells.Count() - 1) || isForceCloseClover))
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{
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// 挑菌的板放盖位号：P2,P3
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List<string> listCoatingCoverLatticeId = ComUtility.GetPlateCoverLatticeName();
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// 转移板盖到放盖位方法
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string strTransferPlateCoverMethodFileName = AppDomain.CurrentDomain.BaseDirectory +
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"\\" + ConfigurationManager.AppSettings["transferDesPlateCoverMethod"].ToString();
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// 转移目标板的盖到板上：P2->Px
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bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, listCoatingCoverLatticeId[0], PositonTypeEnum.Desktop, GripperModelEnum.Right,
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ChoiceLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, LaunchView, TransferTypeEnum.Close);
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}
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return bResult;
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}
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#endregion
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/// <summary>
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/// 更新挑菌孔位
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/// </summary>
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/// <param name="lstResidueValidWells"></param>
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/// <param name="curChoiceLabNode"></param>
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private void UpdateChoiceWellData(List<string> lstResidueValidWells, XmlNode curChoiceLabNode)
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{
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// 删除当前挑菌孔位
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lstResidueValidWells.RemoveAt(0);
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// 更新剩余有效孔位
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curChoiceLabNode.SelectSingleNode("residueValidWells").InnerText = string.Join(",", lstResidueValidWells);
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}
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}
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}
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