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.Data;
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using System.Linq;
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using System.Windows;
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using System.Windows.Media;
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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 XHandler.View.MethodProperty;
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using XImaging.Automation.Service.Interface;
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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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/// 涂布转板控制逻辑类
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/// </summary>
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public class CoatingTransferControl
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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 涂布用变量
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public static MethodCoatingAndTransfer CoatingData = 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 m_curValidWellIndex = -1;
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// 全部有效孔位list：A1、B1、C1
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private static List<string> m_lstAllValidWells = new List<string>();
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// 涂布台面位置
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private static string m_coatingLatticeName = string.Empty;
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// 涂布板位lattice_id
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private static int m_latticeid = -1;
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// 涂布耗材条码
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private static string m_coatingLabwareBarcode = string.Empty;
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// 当前涂布板位的台面信息
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private static XmlNode m_curCoatingLabNode = null;
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// 当前涂布的孔位：A1
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private static string m_curValidWell = string.Empty;
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// 剩余有效孔位list：B1、C1
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private static List<string> m_lstResidueValidWells = new List<string>();
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// 主z轴默认安全坐标点距
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private static float m_zAxisSafeVal = 0;
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#endregion
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#region BLL
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private static CoatingBll coatingBll = new CoatingBll();
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private BacteriaBll bacteriaBll = new BacteriaBll();
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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 CoatingTransferControl()
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{
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m_currentCulture = Shared.SoftwareInformation.currentculture;
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}
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#region 执行涂布转板
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/// <summary>
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/// 执行涂布转板
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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 ExecuteCoatingTransfer(XmlNode xmlEnv, XmlNode methodNode, bool isSimulator)
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{
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int nResult = 2;
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var platformNodeList = xmlEnv.SelectNodes("platform");
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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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#region RunLog start
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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
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// 获取涂布信息
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if (!GetInfo(methodNode, xmlEnv, isSimulator))
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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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// 涂布板位的开盖 => 挑选节点已经执行
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#region 涂布
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// 获取板位坐标
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Lattice latticeDes = LatticeDB.GetLatticeDataByIdFromdb(m_latticeid.ToString());
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// 获取耗材信息
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Labware labwareDes = LabwareDB.GetLabware(CoatingData.coatingLabwareAValue);
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// 获取板位孔的坐标数据
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List<TipsTable> lstTipsTable = ControlCom.GenerateWellCoordinate(labwareDes, latticeDes);
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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(m_latticeid.ToString())
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&& t.labware_id.Equals(CoatingData.coatingLabwareAValue)
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&& t.wellname.Equals(m_curValidWell));
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#region 涂布方式 1:回字型 2:Z字型;3:上下移动
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if (CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.HuiziMode) ||
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CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.ZMode) ||
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CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.UpDownMode))
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{
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#region 涂布
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CoatingMParam coatingMParam = new CoatingMParam();
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coatingMParam.xAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_X.ToString());
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coatingMParam.yAxisVal = (float)Convert.ToDouble(targetWellInfo.axis_b_Y.ToString());
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coatingMParam.armId = Convert.ToInt32(CoatingData.armValue);
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coatingMParam.channelId = 1;
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float zVal = targetWellInfo.axis_b_Z;
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if (ChoiceTransferControl.BacteriaInfo != null)
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{
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// 涂布距离底部距离
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zVal = zVal - float.Parse(ChoiceTransferControl.BacteriaInfo.coating_position_distance.ToString());
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}
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coatingMParam.zAxisVal = zVal < 0 ? 0 : zVal; // 涂布主z轴移动坐标点距
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coatingMParam.zChAxisVal = coatingMParam.zAxisVal;
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coatingMParam.coatingShape = CoatingData.coatingModeValue; // 涂布形状：1：回形；2：Z形；3：上下
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// 涂布范围值：如果是圆形孔值为半径；如是方形孔值为边长一半
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coatingMParam.rangeVal = labwareDes.well_shape == 1 ?
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((float)labwareDes.well_mouth_radius) : ((float)(labwareDes.well_top_x / 2.0d));
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coatingMParam.basezAxisVal = m_zAxisSafeVal; // 主z轴默认安全坐标点距
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coatingMParam.coatingSpeed = float.Parse(ConfigurationManager.AppSettings["coatingSpeed"].ToString()); // 涂布电机速度
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coatingMParam.coatingTipsOutWidth = ControlCom.OutWidthOfTip; // 涂布枪头头部外宽度
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coatingMParam.coatingTipsInWidth = ControlCom.InWidthOfTip; // 涂布枪头头部内宽度
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coatingMParam.enableSupersonic = false;
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coatingMParam.currentLengthOfTip = ControlCom.CurrentLengthOfTip; // 当前涂布安装枪头后，枪增加的长度
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// 单孔板中心坐标x,y,z 字符串，逗号分割
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coatingMParam.centerPointVal = ((float)latticeDes.lattice_X + ((float)latticeDes.lattice_length / 2)).ToString() + "," + ((float)latticeDes.lattice_Y + ((float)latticeDes.lattice_width / 2)).ToString() + "," + coatingMParam.zAxisVal.ToString();
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coatingMParam.latticeName = m_coatingLatticeName;
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// 上下移动
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if (coatingMParam.coatingShape == EnumManagement.GetEnumValue(CoatingModeEnum.UpDownMode))
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{
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coatingMParam.zAxisVal -= CoatingData.distanceFromBottom;
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coatingMParam.zAxisOffsetVal = CoatingData.shakeDistanceValue;
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coatingMParam.zAxisOffsetCount = CoatingData.shakeCountValue;
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}
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// 执行涂布动作
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bool bIsOk = ControlCom.RunCoating(LaunchView, strMethodName, coatingMParam, targetWellInfo, m_curValidWell,
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m_coatingLatticeName, m_coatingLabwareBarcode, isSimulator);
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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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}
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#endregion
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#region 涂布方式 5:放液
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else if (CoatingData.coatingModeValue == EnumManagement.GetEnumValue(CoatingModeEnum.DispenseMode))
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{
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if (ChoiceTransferControl.ChoiceData == null)
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{
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LoggerRunHelper.ErrorLog(string.Format("[ExecuteCoatingTransfer]: ChoiceTransferControl.ChoiceData = null !!!"));
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return 0;
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}
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// 放液
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bool bDispense = ControlCom.DoDispense(LaunchView, strMethodName, ChoiceTransferControl.ChoiceData.choiceAgoAspirateData,
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labwareDes, latticeDes, targetWellInfo, m_coatingLabwareBarcode, isSimulator);
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if (!bDispense)
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{
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return 0;
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}
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}
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#endregion
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#endregion
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#region 卸载Tip,丢在垃圾桶
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UnloadTipsControl unloadTipsControl = new UnloadTipsControl(Shared.SoftwareInformation.currentculture);
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unloadTipsControl.launchView = LaunchView;
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unloadTipsControl.socketTcpClientToRemote = socketTcpClientToRemote;
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bool bUnloadResult = unloadTipsControl.ExecuteUnloadTipsInToTrash(platformNodeList, methodNode, isSimulator);
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LaunchView.currentIsLoadingTips = false;
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#endregion
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#region 自动关盖
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// 获取挑菌类型所有效的孔
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ResidueValidWells residueValidWells = ChoiceTransferControl.GetResidueValidWells();
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bool isForceCloseClover = residueValidWells == null ? true : false;
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// 自动关闭挑选板盖
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bool bResult = ChoiceTransferControl.CloseClover(xmlEnv, isSimulator, isForceCloseClover);
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if (!bResult)
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{
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return 0;
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}
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// 自动关闭涂布板盖
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bResult = CloseClover(xmlEnv, isSimulator, isForceCloseClover);
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if (!bResult)
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{
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return 0;
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}
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#endregion
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// 删除当前涂布孔位
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m_lstResidueValidWells.RemoveAt(0);
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// 更新剩余有效孔位
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m_curCoatingLabNode.SelectSingleNode("residueValidWells").InnerText = string.Join(",", m_lstResidueValidWells);
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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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#region Del
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//MethodMsg methodMsg = new MethodMsg(
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// Guid.NewGuid().ToString(),
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// "ID202_Choice_machine",
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// 5,
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// "",
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// "ExecuteCoatingFile",
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// "1001",
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// "error source:" + ex.Source + ";error:" + ex.Message,
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// 6,
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// 0
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//);
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//if (socketTcpClientToRemote != null)
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//{
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// socketTcpClientToRemote.sendmessageError(socketTcpClientToRemote.CreateSendMsgContent(methodMsg, false), LaunchView.isRemotingOper);
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//}
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#endregion
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#endregion
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}
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return nResult;
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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="methodNode"></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, XmlNode methodNode, bool isSimulator)
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{
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bool bResult = true;
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// 获取涂布信息
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if (!GetInfo(methodNode, xmlEnv, isSimulator))
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{
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bResult = false;
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return bResult;
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}
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// 自动开盖: 当前孔是第一个有效孔
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if (CoatingData != null &&
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CoatingData.autoOpenCloseCover == 1 &&
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m_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：P13->P3
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bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, m_coatingLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right,
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listCoatingCoverLatticeId[1], 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 (CoatingData != null &&
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CoatingData.autoOpenCloseCover == 1 &&
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((m_curValidWellIndex == m_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->P10
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bResult = ControlCom.DoReadMethodFileAndActionTransfer(strTransferPlateCoverMethodFileName, xmlEnv, listCoatingCoverLatticeId[1], PositonTypeEnum.Desktop, GripperModelEnum.Right,
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m_coatingLatticeName, PositonTypeEnum.Desktop, GripperModelEnum.Right, isSimulator, LaunchView, TransferTypeEnum.Close);
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return bResult;
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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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/// 获取涂布信息
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/// </summary>
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/// <param name="methodNode"></param>
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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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private static bool GetInfo(XmlNode methodNode, XmlNode xmlEnv, bool isSimulator)
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{
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#region 数据准备1
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// 获取涂布转移数据
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CoatingData = coatingBll.GenerateMethodCoatingAndTransferDataByXmlNode(methodNode);
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m_curCoatingLabNode = null; // 当前涂布板位的台面信息
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m_curValidWell = string.Empty; // 当前涂布的孔位：A1
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m_lstResidueValidWells = new List<string>(); // 剩余有效孔位list：B1、C1
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m_coatingLatticeName = string.Empty; // 涂布台面位置
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m_coatingLabwareBarcode = string.Empty; // 涂布耗材条码
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// Z轴安全位置
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m_zAxisSafeVal = (float)Convert.ToDouble(ConfigurationManager.AppSettings["zAxisSafeVal"]);
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LoggerHelper.InfoLog($"[CoatingTransferControl]:Args: { JsonConvert.SerializeObject(CoatingData) }");
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#endregion
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#region 获取涂布类型所有效的孔
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// 生成和涂布耗材类型一致的条件
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string strCoatingLabwareWhere = string.Format("platform[labware_id='{0}']", CoatingData.coatingLabwareAValue);
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// 获取满足涂布耗材类型的所有台面点位
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XmlNodeList coatingLabwareNodeList = xmlEnv.SelectNodes(strCoatingLabwareWhere);
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// 循环台面耗材点位，查找涂布耗材剩余量
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#region 补充耗材数据准备
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DataTable dtCoatingFile = new DataTable();
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dtCoatingFile.Columns.Add("TargetB", typeof(string));
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dtCoatingFile.Columns.Add("TargetBarcode", typeof(string));
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dtCoatingFile.Columns.Add("IsNewPlateBatch", typeof(string));
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#endregion
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foreach (XmlNode coatingLabNode in coatingLabwareNodeList)
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{
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#region 补充耗材数据准备
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DataRow dtRow = dtCoatingFile.NewRow();
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dtRow["TargetB"] = coatingLabNode.SelectSingleNode("labware_sname").InnerText;
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dtRow["TargetBarcode"] = "";
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dtRow["IsNewPlateBatch"] = "false";
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dtCoatingFile.Rows.Add(dtRow);
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#endregion
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string residueValidWells = coatingLabNode.SelectSingleNode("residueValidWells").InnerText;
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// 有效孔字符串转换成List
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m_lstResidueValidWells = ComUtility.GetValidWells(residueValidWells);
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if (m_lstResidueValidWells.Count == 0)
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{
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continue;
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}
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m_curCoatingLabNode = coatingLabNode;
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break;
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}
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// 涂布无剩余有效的孔,显示补充耗材提示
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if (m_lstResidueValidWells.Count == 0)
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{
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// 状态6 报错/急停 红闪/蜂鸣5S
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CommonBll.StatusLamp(6, isSimulator);
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SetBarcodeDlgForAddConsumables setBarcodeDlg = null;
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bool bIsBreak = false;
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Application.Current.Dispatcher.Invoke(new Action(() =>
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{
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#region 条码赋值
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string strMsg = string.Format(Properties.CoatingResource.strNoValidConsumables, Environment.NewLine);
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setBarcodeDlg = new SetBarcodeDlgForAddConsumables(strMsg);
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setBarcodeDlg.launchView = LaunchView;
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setBarcodeDlg.dtCoatingFile = dtCoatingFile;
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SolidColorBrush mybtn1_Brush = new SolidColorBrush(System.Windows.Media.Color.FromArgb(70, 0, 0, 0));
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setBarcodeDlg.Background = (System.Windows.Media.Brush)mybtn1_Brush;
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setBarcodeDlg.ShowDialog();
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if (setBarcodeDlg.DialogResult == true)
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{
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foreach (XmlNode choiceLabwareNode in coatingLabwareNodeList)
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{
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string labwareNameUpdate = choiceLabwareNode.SelectSingleNode("labware_sname").InnerText;
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DataRow[] selRowUpdate = dtCoatingFile.Select(string.Format("TargetB = '{0}'", labwareNameUpdate));
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if (selRowUpdate != null)
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{
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string targetBarcode = selRowUpdate[0]["TargetBarcode"].ToString();
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choiceLabwareNode.SelectSingleNode("labware_barcode").InnerText = targetBarcode;
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}
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// 更新已使用的涂布目标孔的颜色
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ControlCom.UpdateDesPlateWellsColor(xmlEnv, choiceLabwareNode.SelectSingleNode("labware_sname").InnerText, LaunchView);
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}
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// 继续执行
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// 状态4 运行 绿色
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CommonBll.StatusLamp(4, isSimulator);
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}
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else
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{
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bIsBreak = true;
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}
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#endregion
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}));
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if (bIsBreak)
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{
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return false;
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}
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return GetInfo(methodNode, xmlEnv, isSimulator);
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}
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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 = m_curCoatingLabNode.SelectSingleNode("allValidWells").InnerText;
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m_lstAllValidWells = ComUtility.GetValidWells(allValidWells);
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// 当前涂布的孔位
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m_curValidWell = m_lstResidueValidWells[0];
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// 当前孔在所有有效孔中的排序
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m_curValidWellIndex = m_lstAllValidWells.IndexOf(m_curValidWell);
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// 涂布板位：P13
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m_coatingLatticeName = m_curCoatingLabNode.SelectSingleNode("labware_sname").InnerText;
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// 涂布耗材条码
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m_coatingLabwareBarcode = m_curCoatingLabNode.SelectSingleNode("labware_barcode").InnerText;
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// 涂布板位lattice_id
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m_latticeid = ControlCom.GetLatticeId(Convert.ToInt32(m_curCoatingLabNode.SelectSingleNode("lattice_id").InnerText));
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#endregion
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return true;
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}
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}
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}
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