using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Data;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using DataEntity;
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using DataEntity.Share;
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using DataRWDAL;
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using HxEnum;
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using Newtonsoft.Json.Linq;
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using XCommon;
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using XHandler.Class.DataEx;
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using XImagingXhandler.XDAL;
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namespace DataCalcDAL
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{
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/// <summary>
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/// 夹爪孔位、列坐标计算处理
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/// </summary>
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public class WellCalcOfGripper
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{
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#region 夹爪孔坐标计算处理
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/// <summary>
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/// 夹爪孔坐标计算处理得到所有孔的夹爪坐标列表
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/// </summary>
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/// <param name="labware">耗材对象</param>
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/// <param name="gripperCoordinate">夹爪在板位上的坐标对象</param>
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/// <returns>孔的夹爪坐标列表</returns>
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public List<GripperCoordinateForWell> GetReallyWellsLabwareCoordinatesOnLattice(Labware labware, GripperCoordinate gripperCoordinate)
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{
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int posVal = 0;
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DataTable dtWellDes = null;
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// 原点坐标：左上角
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if (Shared.SoftwareInformation.originType == EnumManagement.GetEnumValue(OriginTypeEnum.LeftTop))
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{
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posVal = 2;
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// 获取目标板位上孔坐标数据
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dtWellDes = GetDataTableForWellOfGripperOnLeftTop(labware, gripperCoordinate);
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}
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// 原点坐标：右上角
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else if (Shared.SoftwareInformation.originType == EnumManagement.GetEnumValue(OriginTypeEnum.RightTop))
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{
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posVal = 3;
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}
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List<GripperCoordinateForWell> lstWells = new List<GripperCoordinateForWell>();
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// dt 转化为实体类对象集合
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for (int k = 0; k < dtWellDes.Rows.Count; k++)
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{
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GripperCoordinateForWell wellDes = new GripperCoordinateForWell();
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wellDes.lattice_num = dtWellDes.Rows[k]["lattice_num"].ToString();
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wellDes.lattice_X = (float)Convert.ToDouble(dtWellDes.Rows[k]["axis_b_X"].ToString());
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wellDes.lattice_Y = (float)Convert.ToDouble(dtWellDes.Rows[k]["axis_b_Y"].ToString());
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wellDes.lattice_Z = (float)Convert.ToDouble(dtWellDes.Rows[k]["axis_b_Z"].ToString());
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wellDes.gripper_rotational = Convert.ToDouble(gripperCoordinate.gripper_rotational.ToString());
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wellDes.gripper_model = gripperCoordinate.gripper_model;
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wellDes.device_arm_id = gripperCoordinate.device_arm_id;
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wellDes.software_information_id = gripperCoordinate.software_information_id;
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wellDes.wellname = dtWellDes.Rows[k]["wellname"].ToString();
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wellDes.objectwidth= dtWellDes.Rows[k]["object_width"].ToString();
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wellDes.spreadVal = (float)Convert.ToDouble(dtWellDes.Rows[k]["spreadVal"].ToString());
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wellDes.squeezeVal = (float)Convert.ToDouble(dtWellDes.Rows[k]["squeezeVal"].ToString());
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wellDes.gripperpowerVal = (float)Convert.ToDouble(dtWellDes.Rows[k]["powerVal"].ToString());
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wellDes.gripSpeed = (float)Convert.ToDouble(dtWellDes.Rows[k]["speedVal"].ToString());
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lstWells.Add(wellDes);
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}
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return lstWells;
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}
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#endregion
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#region 夹爪列坐标计算处理
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public List<GripperCoordinateForColumn> GetReallyColumnsLabwareCoordinatesOnLattice(Labware labware, Lattice lattice)
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{
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List<GripperCoordinateForColumn> lstWells = new List<GripperCoordinateForColumn>();
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return lstWells;
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}
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#endregion
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#region 获取数据并计算夹爪孔的坐标--左上角为零点
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/// <summary>
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/// 获取数据并计算夹爪孔的坐标--左上角为零点
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/// </summary>
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/// <param name="labware">耗材对象</param>
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/// <param name="lattice">夹爪抓板的板位坐标对象</param>
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/// <returns>夹爪的孔位坐标表</returns>
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private DataTable GetDataTableForWellOfGripperOnLeftTop(Labware labware, GripperCoordinate lattice)
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{
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DataTable dt = new DataTable();
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DataColumn dc = new DataColumn();
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dc = new DataColumn();
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dc.ColumnName = "labware_id";//孔板Id
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "wellname";//孔名称
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "axis_b_X";//板内x轴
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "axis_b_Y";//板内y轴
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "axis_b_Z";//板内底部高z轴
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "well_top_shape";//板内孔口形状；1：圆形；2：方形
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "axis_b_r";//孔半径或者半边长度
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "object_width";//夹取宽度
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "spreadVal";//张开距离
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "squeezeVal";//夹紧距离
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "powerVal";//夹紧力度
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "speedVal";//夹紧速度
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dt.Columns.Add(dc);
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dc = new DataColumn();
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dc.ColumnName = "lattice_num";//板位编号
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dt.Columns.Add(dc);
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Labware labware1 = LabwareDB.GetLabware(labware.labware_id);
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//离心管耗材对象
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Labware centrifugalLabware = GetCentrifugalLabwer(labware1.piled_script);
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if (labware1 != null)
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{
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double a1DistanceX = 0; // A1孔中心距短边的距离
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double a1DistanceY = 0; // A1孔中心距长边的距离
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//判断是否为异形管架耗材
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if (labware1.labware_tubeshelf_type == 0)
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{
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for (int nCol = 1; nCol < (int)labware1.number_column + 1; nCol++)
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{
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for (int nRow = 1; nRow < labware1.number_row + 1; nRow++)
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{
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string rowName = ComUtility.GetRowChar(nRow - 1);
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a1DistanceX = (double)labware1.a1_distance_x;
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a1DistanceY = (double)labware1.a1_distance_y;
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// A1
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string wellName = rowName + nCol.ToString();
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DataRow dr = dt.NewRow();
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dr["labware_id"] = labware1.labware_id;
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dr["wellname"] = wellName;
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dr["axis_b_X"] = lattice.lattice_X+a1DistanceX + ((nCol - 1) * labware1.a1_a2_distance);
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dr["axis_b_Y"] = lattice.lattice_Y+a1DistanceY + ((nRow - 1) * labware1.a1_b1_distance);
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dr["axis_b_Z"] = lattice.lattice_Z-labware1.well_bottom_height;
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dr["well_top_shape"] = labware1.well_shape;
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if (labware1.well_shape == 1) // 孔洞形状，1:圆柱体
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{
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dr["axis_b_r"] = labware1.well_mouth_radius;
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}
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else
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{
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dr["axis_b_r"] = (labware1.well_top_x / 2);
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if (labware1.labware_type_id == EnumManagement.GetEnumValue(ConsumableTypeEnum.Through).ToString()) // 试剂槽
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{
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dr["axis_b_X"] = (float)Convert.ToDouble(dr["axis_b_X"]) + (float)Convert.ToDouble(dr["axis_b_r"]);
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dr["axis_b_Y"] = (float)Convert.ToDouble(dr["axis_b_Y"]) + 1f;
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}
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}
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dr["object_width"] = (float)(centrifugalLabware.well_mouth_out_radius * 2);
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dr["spreadVal"] = (float)(centrifugalLabware.gripper_spread);
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dr["squeezeVal"] = (float)(centrifugalLabware.gripper_squeeze);
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dr["powerVal"] = (float)(centrifugalLabware.gripper_power);
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dr["speedVal"]= (float)(centrifugalLabware.gripper_speed);
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dr["lattice_num"] = lattice.lattice_num;
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dt.Rows.Add(dr);
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}
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}
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}
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else
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//异形管架耗材
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{
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ObservableCollection<LabwareWellInfo> labwareWellInfos = LabwareDB.GetSpecialLabwareWellInfo(labware1.labware_id);
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foreach(LabwareWellInfo labwareWellInfo in labwareWellInfos)
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{
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DataRow dr = dt.NewRow();
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dr["labware_id"] = labware1.labware_id;
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dr["wellname"] = labwareWellInfo.labware_well_name;
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dr["axis_b_X"] = lattice.lattice_X+labwareWellInfo.labware_well_center_x;
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dr["axis_b_Y"] = lattice.lattice_Y+labwareWellInfo.labware_well_center_y;
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Labware labware2 = LabwareDB.GetLabware(labwareWellInfo.well_labware_id);//管架孔内安装的耗材
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dr["axis_b_Z"] = lattice.lattice_Z - labware2.well_bottom_height;
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dr["well_top_shape"] = labware1.well_shape;
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if (labware1.well_shape == 1) // 孔洞形状，1:圆柱体
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{
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dr["axis_b_r"] = labware2.well_mouth_out_radius;
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}
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else
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{
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dr["axis_b_r"] = (labware2.well_bottom_width / 2);
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}
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dr["object_width"] = (float)(labware2.well_mouth_out_radius * 2);
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dr["spreadVal"] = (float)(labware2.gripper_spread);
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dr["squeezeVal"] = (float)labware2.gripper_squeeze;
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dr["powerVal"] = (float)(labware2.gripper_power);
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dr["speedVal"] = (float)(labware2.gripper_speed);
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dr["lattice_num"] = lattice.lattice_num;
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dt.Rows.Add(dr);
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}
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}
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}
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return dt;
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}
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#endregion
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#region 获取管架关联的管子
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/// <summary>
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/// 获取管架关联的管子
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/// </summary>
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/// <param name="jsonText">管架关联的管子json文本</param>
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/// <returns>管子对象</returns>
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public Labware GetCentrifugalLabwer(string jsonText)
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{
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string labwareCentrifugalId = string.Empty;
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Labware centrifugalLabware = new Labware();
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if (!string.IsNullOrEmpty(jsonText))
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{
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JObject job = JObject.Parse(jsonText);
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JArray jArray = (JArray)job["list"];
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if (jArray != null)
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{
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if (jArray.Count > 0)
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{
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labwareCentrifugalId = jArray[0]["labwereid"].ToString();
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centrifugalLabware = LabwareDB.GetLabware(labwareCentrifugalId);
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}
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}
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}
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return centrifugalLabware;
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}
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#endregion
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}
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}
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