4 changed files with 406 additions and 20 deletions
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1.gitignore
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BINbak/app.db
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46src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java
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377src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlServiceBak.java
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package a8k.app.service.lowerctrl; |
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import a8k.app.dao.type.combination.ProjBuildinInfo; |
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import a8k.app.dao.type.db.ProjExtInfoCard; |
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import a8k.app.hardware.driver.PipetteCtrlDriver; |
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import a8k.app.hardware.type.A8kEcode; |
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import a8k.app.hardware.type.LldType; |
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import a8k.app.hardware.type.PipetteRegIndex; |
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import a8k.app.service.param.exparam.HbotConsumableExParamMgr; |
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import a8k.app.service.param.hbotpos.HbotSamplePosParamMgr; |
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import a8k.app.service.param.pipetteparam.PipetteGunExParamMgr; |
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import a8k.app.service.param.pipetteparam.PipetteGunLLFParamMgr; |
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import a8k.app.service.statemgr.ConsumablesMgrService; |
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import a8k.app.service.statemgr.GStateMgrService; |
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import a8k.app.service.utils.ZAppChecker; |
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import a8k.app.type.DeviceRunMode; |
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import a8k.app.type.a8k.ConsumableType; |
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import a8k.app.type.a8k.Pos3d; |
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import a8k.app.type.a8k.pos.LargeBufferPos; |
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import a8k.app.type.a8k.pos.PreReactionPos; |
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import a8k.app.type.a8k.pos.TipGroupPos; |
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import a8k.app.type.a8k.pos.TipPos; |
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import a8k.app.type.exception.AppException; |
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import a8k.app.type.param.type.A8kSamplePos; |
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import jakarta.annotation.Resource; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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@Component |
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@Slf4j |
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public class LiquidOperationCtrlServiceBak { |
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static public final Integer lldZmotorVmax = 50; |
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static public final Integer lldGunPumpVmax = 50; |
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static public final Integer aspiratePumpVmax = 100; |
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static public final Integer reactionVolumeUL = 75; |
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static public final Integer mixVolumeUL = 200; |
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@Resource |
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GStateMgrService gstate; |
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/* |
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* CTRL-SERVICE |
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*/ |
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@Resource |
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HbotMoveExCtrlService hbotMoveExCtrlService; |
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@Resource |
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PipetteCtrlDriver pipetteCtrlDriver; |
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/* |
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* PARAM-MGR |
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*/ |
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@Resource |
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HbotConsumableExParamMgr hbotConsumableExParamMgr; |
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@Resource |
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PipetteGunLLFParamMgr pipetteGunLLFParamMgr; |
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@Resource |
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PipetteGunExParamMgr pipetteGunExParamMgr; |
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/** |
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* StateMgr |
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*/ |
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@Resource |
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ConsumablesMgrService consumablesMgrService; |
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@Resource |
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HbotSamplePosParamMgr hbotSamplePosParamMgr; |
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ProjBuildinInfo projBuildinInfo; |
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ProjExtInfoCard projExtInfo; |
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synchronized public void setProjContext(ProjBuildinInfo projBuildinInfo, ProjExtInfoCard projExtInfo) { |
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this.projBuildinInfo = projBuildinInfo; |
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this.projExtInfo = projExtInfo; |
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} |
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/** |
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* 取TIP |
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* @param group TIP组 |
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* @param index TIP序号 |
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* @throws AppException 异常 |
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*/ |
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public void takeTip(TipGroupPos group, Integer index) throws AppException { |
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// 移动到取TIP位 |
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TipPos tipPos = new TipPos(); |
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tipPos.group = group; |
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tipPos.index = index; |
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hbotMoveExCtrlService.takeTip(tipPos); |
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} |
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public void forceTakeTip() throws AppException { |
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if (hbotMoveExCtrlService.isHasTip()) { |
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return; |
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} |
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while (true) { |
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hbotMoveExCtrlService.takeTip(consumablesMgrService.takeNextTipPos()); |
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if (gstate.isInMode(DeviceRunMode.RunOnlyMode)) { |
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break; |
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} |
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if (hbotMoveExCtrlService.isHasTip()) { |
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break; |
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} |
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} |
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} |
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public void dropTip() throws AppException { |
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hbotMoveExCtrlService.dropTip(); |
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} |
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public Boolean checkTipIsExist(TipPos tipPos) throws AppException { |
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return hbotMoveExCtrlService.checkIfTipExist(tipPos.group, tipPos.index); |
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} |
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/** |
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* 取大瓶缓冲液到探测物质位置(不接触分配) |
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* @param from 大瓶缓冲液 |
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* @param topos 探测物质位置 |
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* @param ul 吸取量 |
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*/ |
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public void takeLargeBottleBufferLiquidToProbeSubstance(LargeBufferPos from, PreReactionPos topos, Integer ul) throws AppException { |
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// 取TIP |
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forceTakeTip(); |
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// 检查是否有TIP |
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ZAppChecker.check(pipetteCtrlDriver.isHasTip(), A8kEcode.CODEERROR, "未检测到TIP"); |
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Pos3d largeBottleEndPos = hbotConsumableExParamMgr.getLargeBufferSamplePosEnd(from.group); |
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Pos3d largeBottlePos = hbotConsumableExParamMgr.getLargeBufferSamplePos(from.group); |
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Integer liquidLevel = 0; |
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// |
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// 刺破探测物质 |
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// |
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Pos3d piercePos = hbotConsumableExParamMgr.getProbeSubstancePiercePos(topos.group, topos.index); |
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hbotMoveExCtrlService.moveTo(piercePos); |
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pipetteCtrlDriver.zMotorMoveToBlock(0); |
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// |
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// 移动到取样位 |
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// |
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hbotMoveExCtrlService.moveToXY(largeBottlePos); |
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// |
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//lld |
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// |
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//清空tip中的液体和空气，同时预先吸入部分空气，以便后续清空由于lld吸入的液体，提高lld的准确性 |
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lddprepare(); |
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ldd(largeBottlePos.z, 1000, 30); |
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if (pipetteCtrlDriver.lldIsDetectLiquid() && gstate.isInMode(DeviceRunMode.RealMode)) { |
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throw AppException.of(A8kEcode.APPE_TAKE_LARGE_BUFFER_LIQUID_FAIL); |
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} |
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liquidLevel = pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos); |
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pipetteCtrlDriver.zMotorMoveToBlock(0); |
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pumpMoveTo(8000, 0.0); |
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// |
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//取样 |
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// |
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pipetteCtrlDriver.zMotorMoveToBlock(liquidLevel); |
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if (ul < 100) { |
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pumpMoveTo(8000, 50.0);//预先吸入部分空气 |
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} else { |
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pumpMoveTo(8000, 25.0);//预先吸入部分空气 |
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} |
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aspirate(largeBottleEndPos.z, aspiratePumpVmax, pipetteGunLLFParamMgr.getLargeBSBottleLlfVel(), ul * 1.0); |
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pipetteCtrlDriver.zMotorMoveToBlock(0); |
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// |
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// 移动到探测物质的位置 |
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// |
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Pos3d toCPos = hbotConsumableExParamMgr.getProbeSubstanceSamplePos(topos.group, topos.index); |
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hbotMoveExCtrlService.moveTo(toCPos); |
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pumpMoveTo(8000, 0.0); |
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pipetteCtrlDriver.zMotorMoveToBlock(0); |
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// |
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// 丢弃TIP |
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// |
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hbotMoveExCtrlService.initPipetterGun(); |
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hbotMoveExCtrlService.moveQuickToZero(); |
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} |
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private Pos3d getPreReactionPos(PreReactionPos pos) { |
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Pos3d toCPos = null; |
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if (pos.type.equals(ConsumableType.ProbeSubstance)) { |
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toCPos = hbotConsumableExParamMgr.getProbeSubstanceSamplePos(pos.group, pos.index); |
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} else { |
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toCPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); |
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} |
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return toCPos; |
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} |
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/** |
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* 取样本到探测物质 |
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* @param from 样本位置 |
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* @param pos 预先反应位置P |
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* @param ul 吸取量 |
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* @throws AppException 异常 |
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*/ |
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public void takeSample(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException { |
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log.info("takeSampleToPreReactionPos: from={}, pos={}, ul={}ul", from, pos, ul); |
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// 取TIP |
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forceTakeTip(); |
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ZAppChecker.check(pipetteCtrlDriver.isHasTip(), A8kEcode.CODEERROR, "未检测到TIP"); |
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// |
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// 取样位 |
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// |
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// 取样 |
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Pos3d sampleStartPos = hbotSamplePosParamMgr.getSampleStartPos(from); |
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Integer sampleEndZPos = hbotSamplePosParamMgr.getSampleEndPos(from); |
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Integer liquidLevel = 0; |
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// 移动到取样位 |
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hbotMoveExCtrlService.moveToXY(sampleStartPos); |
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//lld |
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//清空tip中的液体和空气，同时预先吸入部分空气，以便后续清空由于lld吸入的液体，提高lld的准确性 |
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lddprepare(); |
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ldd(sampleStartPos.z, sampleEndZPos, 20); |
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if (!pipetteCtrlDriver.lldIsDetectLiquid() && gstate.isInMode(DeviceRunMode.RealMode)) { |
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throw AppException.of(A8kEcode.APPE_TAKE_SAMPLE_FAIL); |
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} |
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//获取当前液面高度 |
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liquidLevel = pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos); |
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liquidLevel += 10;//保证液面高度 |
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//取样准备 |
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pipetteCtrlDriver.zMotorMoveToBlock(sampleStartPos.z); //回到0 |
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pumpMoveTo(8000, 0.0); //排空 |
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pumpMoveTo(aspiratePumpVmax, 10.0); //预先吸入部分空气 |
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//取样 |
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pipetteCtrlDriver.zMotorMoveToBlock(liquidLevel); |
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aspirate(sampleEndZPos, aspiratePumpVmax, pipetteGunLLFParamMgr.getSampleLLFVel(from), ul * 1.0); |
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pipetteCtrlDriver.zMotorMoveToBlock(0); |
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// |
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// 移动到反应位 |
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// |
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log.info("move to pre reaction pos: {}", pos); |
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hbotMoveExCtrlService.moveTo(getPreReactionPos(pos)); |
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//吐液，此过程会产生气泡，但由于气泡在液面附近，而吸吐位在液面之下，问题不大 |
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log.info("drop liquid"); |
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pumpMoveTo(200, 0.0); |
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//混匀 |
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Integer shakeUl = mixVolumeUL; |
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Integer shakeTimes = 5; |
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if (projBuildinInfo != null) { |
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shakeUl = projBuildinInfo.mixedLiquidMixingVolUl; |
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shakeTimes = projBuildinInfo.mixedLiquidMixingTimes; |
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} |
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//摇匀 |
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shakeUp(shakeUl, shakeTimes); |
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//z轴回0 |
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pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock(); |
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} |
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public void pirceLittleBuffer(PreReactionPos pos) throws AppException { |
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forceTakeTip(); |
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hbotMoveExCtrlService.moveToLittleBufferPiercePos(pos.group, pos.index); |
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pipetteCtrlDriver.zMotorMoveToBlock(0); |
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} |
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/** |
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* 取反应液到反应板上 |
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* @param pos 反应板位置 |
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* @throws AppException 异常 |
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*/ |
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public void takePreReactionLiquidToReation(PreReactionPos pos) throws AppException { |
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log.info("takePreReactionLiquidToReactionPos: from pos={}", pos); |
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forceTakeTip(); |
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Pos3d reactionPos = getPreReactionPos(pos); |
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hbotMoveExCtrlService.moveToXY(reactionPos); |
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pipetteCtrlDriver.zMotorMoveByBlock(0); |
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makeReserveAir(100); |
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hbotMoveExCtrlService.moveToZ(reactionPos); |
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aspirate(reactionPos.z, aspiratePumpVmax, 0, (double) reactionVolumeUL); |
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hbotMoveExCtrlService.moveToDropLiquidPos(); |
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pumpMoveTo(8000, 0.0); |
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hbotMoveExCtrlService.initPipetterGun(); |
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hbotMoveExCtrlService.moveQuickToZero(); |
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} |
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// |
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// PRIVATE |
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// |
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private void pumpMoveTo(Integer pumpvmax, Double ul) throws AppException { |
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pipetteCtrlDriver.liquidOperationClearParams(); |
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pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, pumpvmax); |
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pipetteCtrlDriver.liquidOperationFreshParams(); |
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pipetteCtrlDriver.pipettePumpMoveTo(ul); |
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} |
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private void lddprepare() throws AppException { |
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pipetteCtrlDriver.liquidOperationClearParams(); |
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pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, 8000); |
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pipetteCtrlDriver.liquidOperationFreshParams(); |
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pipetteCtrlDriver.pipettePumpMoveTo(0.0); |
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pipetteCtrlDriver.pipettePumpMoveTo(50.0); |
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} |
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private void ldd(Integer startpos, Integer maxpos, Integer p_threshold) throws AppException { |
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log.info("lld: startpos={}, maxpos={}, p_threshold={}", startpos, maxpos, p_threshold); |
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pipetteCtrlDriver.zMotorMoveToBlock(startpos); |
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pipetteCtrlDriver.liquidOperationClearParams(); |
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pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, lldGunPumpVmax); |
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pipetteCtrlDriver.liquidOperationSetZMotorRunParams(0, maxpos, lldZmotorVmax); |
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pipetteCtrlDriver.liquidOperationFreshParams(); |
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pipetteCtrlDriver.pipetteLld(LldType.kplld, 0, p_threshold); |
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} |
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private void makeReserveAir(Integer ul) throws AppException { |
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pipetteCtrlDriver.liquidOperationClearParams(); |
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pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, 8000); |
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pipetteCtrlDriver.liquidOperationFreshParams(); |
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pipetteCtrlDriver.pipettePumpMoveTo(0.0); |
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pipetteCtrlDriver.pipettePumpMoveTo(Double.valueOf(ul)); |
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} |
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/** |
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* 在当前位置吸取液体 |
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* @param maxpos 最大位置 |
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* @param gunv 枪速 |
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* @param zv z轴速度 |
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* @param ul 吸取量 |
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* @throws AppException 异常 |
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*/ |
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private void aspirate(Integer maxpos, int gunv, int zv, Double ul) throws AppException { |
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log.info("aspirate: maxpos={}, gunv={}, zv={}, ul={}", maxpos, gunv, zv, ul); |
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pipetteCtrlDriver.liquidOperationClearParams(); |
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pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, gunv); |
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pipetteCtrlDriver.liquidOperationSetZMotorRunParams(0, maxpos, zv); |
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pipetteCtrlDriver.liquidOperationFreshParams(); |
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Double realul = pipetteGunExParamMgr.calibrateVolume(ul); |
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// Double realul = ul; |
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pipetteCtrlDriver.pipetteAspirate(realul); |
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} |
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private void shakeUp(Integer ul, Integer times) throws AppException { |
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log.info("shakeUp: ul={}, times={}", ul, times); |
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pipetteCtrlDriver.liquidOperationClearParams(); |
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pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, 8000); |
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pipetteCtrlDriver.liquidOperationFreshParams(); |
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pipetteCtrlDriver.pipetteShakeUp((double) ul, times); |
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} |
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} |
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