using DataRWDAL;
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using HxSocket;
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using System;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Xml;
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using System.Xml.Linq;
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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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namespace XHandler.Controls
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{
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public class HoldingLabwareControl
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{
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#region 变量
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private string m_strCurrentCulture = string.Empty;
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private static MethodHoldingLabware m_beginHoldingLabwareData = null;
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#region BLL
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private HoldingLabwareBll m_holdingLabwareBll = new HoldingLabwareBll();
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#endregion
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#region 转运参数
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private string m_strMethodName = string.Empty;
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#endregion
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public RunWnd LaunchView = null;
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public HxSocketClient SocketTcpListener = 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 HoldingLabwareControl(string strCurrentCulture)
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{
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this.m_strCurrentCulture = strCurrentCulture;
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}
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#region 执行抓板保持开始
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/// <summary>
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/// 执行抓板保持开始
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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 bool ExecuteBeginHolding(XmlNode xmlEnv, XmlNode methodNode, bool isSimulator)
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{
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bool result = true;
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string methodName = methodNode.SelectSingleNode("name").InnerText;
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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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try
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{
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#region StartLog
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if (m_strCurrentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodName + "】" + 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: 【" + methodName + "】start:");
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}
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#endregion
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#region 数据准备
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m_beginHoldingLabwareData = m_holdingLabwareBll.GenerateMethodBeginHoldingLabware(methodNode);
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#endregion
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// From点位耗材信息
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Labware labwareFrom = LabwareDB.GetLabware(m_beginHoldingLabwareData.gripPickLabwareValue);
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ObservableCollection<Labware> piledFromLabwares = piledFromLabwares = LabwareDB.GetPiledlabwareOfALabware(labwareFrom); // 被叠放的盖子
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#region Del
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//// To点位耗材信息
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//Labware labwareTo = null;
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//// 放空板位：-1:空板位
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//if ("-1".Equals(holdingLabwareData.gripPlaceLabwareValue))
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//{
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// labwareTo = labwareFrom;
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// // 被抓的耗材位置是顶部，且有盖子：=> labwareTo = 盖子
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// if (piledFromLabwares.Count() > 0 && holdingLabwareData.gripModelPosValue == 2)
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// {
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// labwareTo = LabwareDB.GetLabware(piledFromLabwares[0].labware_id);
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// }
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//}
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//else
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//{
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// labwareTo = LabwareDB.GetLabware(holdingLabwareData.gripPlaceLabwareValue);
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//}
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#endregion
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if (labwareFrom == null)
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{
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return result;
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}
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// 抓板
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MethodGripTransport gripTransportData = ComUtility.MapperStruct<MethodGripTransport, MethodHoldingLabware>(m_beginHoldingLabwareData);
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LaunchView.startMethodGripTransport = gripTransportData;
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result = ControlCom.ExecuteGripTransportPick(xmlEnv, gripTransportData, labwareFrom, piledFromLabwares, methodName, LaunchView, isSimulator);
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if (m_strCurrentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.MachineRunResource.strEnd.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: 【" + methodName + "】progress: complete;");
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}
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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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if (m_strCurrentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strError.ToString() + " 源 " + ex.Source + " 错误信息 " + ex.Message + ";");
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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: 【" + methodName + "】error:source:" + ex.Source + ";error:" + ex.Message + ";");
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}
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if (LaunchView.isRemotingOper)
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{
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LaunchView.OnError?.Invoke(LaunchView.remoteObjectCmd, "EC-1001", 5, "error:source:" + ex.Source + ";error:" + ex.Message + ";", 2);
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}
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result = false;
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}
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return result;
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}
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#endregion
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#region 执行抓板保持结束
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/// <summary>
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/// 执行抓板保持结束
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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 bool ExecuteEndHolding(XmlNode xmlEnv, XmlNode methodNode, bool isSimulator)
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{
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bool result = true;
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string methodName = methodNode.SelectSingleNode("name").InnerText;
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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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try
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{
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#region StartLog
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if (m_strCurrentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】> Xhandler: 【" + methodName + "】" + 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: 【" + methodName + "】start:");
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}
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#endregion
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#region 数据准备
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MethodHoldingLabware endHoldingLabwareData = m_holdingLabwareBll.GenerateMethodEndHoldingLabware(methodNode);
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endHoldingLabwareData.gripModelPosValue = m_beginHoldingLabwareData.gripModelPosValue;
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#endregion
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// From点位耗材信息
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Labware labwareFrom = LabwareDB.GetLabware(m_beginHoldingLabwareData.gripPickLabwareValue);
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// To点位耗材信息
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Labware labwareTo = null;
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ObservableCollection<Labware> piledFromLabwares = piledFromLabwares = LabwareDB.GetPiledlabwareOfALabware(labwareFrom); // 被叠放的盖子
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// 放空板位
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if ("-1".Equals(endHoldingLabwareData.gripPlaceLabwareValue))
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{
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labwareTo = labwareFrom;
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// 被抓的耗材位置是顶部，且有盖子：=> labwareTo = 盖子
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if (piledFromLabwares.Count() > 0 && m_beginHoldingLabwareData.gripModelPosValue == 2)
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{
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labwareTo = LabwareDB.GetLabware(piledFromLabwares[0].labware_id);
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}
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}
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else
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{
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labwareTo = LabwareDB.GetLabware(endHoldingLabwareData.gripPlaceLabwareValue);
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}
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if (labwareTo == null)
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{
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return result;
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}
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// 放板
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MethodGripTransport gripTransportData = ComUtility.MapperStruct<MethodGripTransport, MethodHoldingLabware>(endHoldingLabwareData);
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if (LaunchView.startMethodGripTransport != null)
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{
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#region 来源点位
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gripTransportData.srcPositionText = LaunchView.startMethodGripTransport.srcPositionText;
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gripTransportData.srcPositionValue = LaunchView.startMethodGripTransport.srcPositionValue;
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gripTransportData.srcPositionType = LaunchView.startMethodGripTransport.srcPositionType;
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#endregion
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#region 抓板方向
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gripTransportData.gripModelText = LaunchView.startMethodGripTransport.gripModelText;
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gripTransportData.gripModelValue = LaunchView.startMethodGripTransport.gripModelValue;
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#endregion
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#region 抓取耗材
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gripTransportData.gripPickLabwareText = LaunchView.startMethodGripTransport.gripPickLabwareText;
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gripTransportData.gripPickLabwareValue = LaunchView.startMethodGripTransport.gripPickLabwareValue;
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#endregion
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#region 抓板位置
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gripTransportData.gripModelPosText = LaunchView.startMethodGripTransport.gripModelPosText;
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gripTransportData.gripModelPosValue = LaunchView.startMethodGripTransport.gripModelPosValue;
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#endregion
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gripTransportData.transportMode = LaunchView.startMethodGripTransport.transportMode;
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gripTransportData.transportCount = LaunchView.startMethodGripTransport.transportCount;
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LaunchView.GenerateAnimation(xmlEnv, gripTransportData);
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}
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result = ControlCom.ExecuteGripTransportPlace(xmlEnv, gripTransportData, labwareFrom, labwareTo, piledFromLabwares, methodName, LaunchView, isSimulator);
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if (m_strCurrentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strProgress.ToString() + Properties.MachineRunResource.strEnd.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: 【" + methodName + "】progress: complete;");
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}
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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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if (m_strCurrentCulture.Equals("zh-CN"))
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{
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LaunchView.AddLogs("【" + DateTime.Now.ToString("HH:mm:ss:fff") + "】>Xhandler: 【" + methodName + "】" + Properties.MachineRunResource.strError.ToString() + " 源 " + ex.Source + " 错误信息 " + ex.Message + ";");
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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: 【" + methodName + "】error:source:" + ex.Source + ";error:" + ex.Message + ";");
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}
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if (LaunchView.isRemotingOper)
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{
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LaunchView.OnError?.Invoke(LaunchView.remoteObjectCmd, "EC-1001", 5, "error:source:" + ex.Source + ";error:" + ex.Message + ";", 2);
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}
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result = false;
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}
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return result;
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}
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#endregion
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}
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}
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