26 changed files with 594 additions and 388 deletions
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17src/main/java/a8k/app/engineer/service/qatest/ExperimentConsistencyTestingService.java
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6src/main/java/a8k/app/engineer/service/qatest/LiquidAbsorptionAndDistributionTestService.java
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42src/main/java/a8k/app/hardware/driver/PipetteCtrlDriverV2.java
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11src/main/java/a8k/app/hardware/type/pipette_module/DistribuType.java
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1src/main/java/a8k/app/hardware/type/pipette_module/cfg/PipetteCommonConfigIndex.java
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1src/main/java/a8k/app/hardware/type/pipette_module/cfgbean/PipetteCommonConfig.java
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1src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/ContainerCpyId.java
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2src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/LiquidConfigCpyIdx.java
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22src/main/java/a8k/app/hardware/type/pipette_module/cpyidx/PlatInfoCpyIdx.java
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32src/main/java/a8k/app/hardware/type/pipette_module/param/AspirationParam.java
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25src/main/java/a8k/app/hardware/type/pipette_module/param/DistribuAllParam.java
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8src/main/java/a8k/app/service/lowerctrl/DeviceMoveToZeroCtrlService.java
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22src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java
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269src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java
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5src/main/java/a8k/app/service/mainctrl/mainflowctrl/MainFlowCtrlScheduler.java
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22src/main/java/a8k/app/service/mainctrl/mainflowctrl/action/AC41ProcessSample.java
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383src/main/java/a8k/app/service/module/LiquidOperationCtrlModule.java
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18src/main/java/a8k/app/service/module/TipMgrModule.java
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4src/main/java/a8k/app/service/param/exparam/HbotConsumableExParamMgr.java
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12src/main/java/a8k/app/service/param/hbotpos/HbotLittleBSPosMgr.java
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4src/main/java/a8k/app/service/param/hbotpos/HbotProbeSubstancePosMgr.java
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2src/main/java/a8k/app/type/a8k/state/ProjectTaskContext.java
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8src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunCommonConfigPage.java
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12src/main/java/a8k/extui/page/driver/pipette_module/PipetteGunOperationCtrlPage.java
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2src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java
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51src/main/java/a8k/extui/page/test/verification/P34LiquidOperationTestPage.java
@ -0,0 +1,11 @@ |
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package a8k.app.hardware.type.pipette_module; |
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|
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public enum DistribuType { |
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JET_DIST, //液面上分配 |
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SURFACE_DIST, //液体表面分配 |
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; |
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|
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public Integer toInteger() { |
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return this.ordinal(); |
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} |
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} |
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@ -1,269 +0,0 @@ |
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package a8k.app.service.lowerctrl; |
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|
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|
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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.PipetteCtrlDriverV2; |
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import a8k.app.hardware.type.A8kEcode; |
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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.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.JudgeFn; |
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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 lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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|
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class LiquidOperationCtrlService { |
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static public final Integer MIX_VOLUME_UL = 200; |
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|
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|
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private final GStateMgrService gstate; |
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|
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/* |
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* CTRL-SERVICE |
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*/ |
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private final HbotMoveExCtrlService hbotMoveExCtrlService; |
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private final PipetteCtrlDriverV2 pipetteCtrlDriverV2; |
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|
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/* |
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* PARAM-MGR |
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*/ |
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private final HbotConsumableExParamMgr hbotConsumableExParamMgr; |
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/** |
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* StateMgr |
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*/ |
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private final ConsumablesMgrService consumablesMgrService; |
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private final HbotSamplePosParamMgr hbotSamplePosParamMgr; |
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|
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|
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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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|
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/** |
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* 取大瓶缓冲液到探测物质位置 |
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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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|
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// 检查是否有TIP |
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ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), 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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|
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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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pipetteCtrlDriverV2.zMotorMoveToBlock(0); |
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|
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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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// |
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//取样 |
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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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{ |
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//TODO: 取样 |
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|
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} |
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// lddprepare(); |
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// ldd(largeBottlePos.z, largeBottleEndPos.z, LLD_P_THRESHOLD); |
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// if (!pipetteCtrlDriverV2.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 = pipetteCtrlDriverV2.getReg(PipetteRegIndex.kreg_pipette_zm_pos); |
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// pipetteCtrlDriverV2.zMotorMoveToBlock(0); |
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// pumpMoveTo(8000, 0.0); |
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// |
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// // |
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// //取样 |
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// // |
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// pipetteCtrlDriverV2.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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// |
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// aspirate(largeBottleEndPos.z, pipetteGunExParamMgr.getLargeBSBottleLlfVel(), ul * 1.0); |
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// pipetteCtrlDriverV2.zMotorMoveToBlock(0); |
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|
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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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pipetteCtrlDriverV2.zMotorMoveToBlock(0); |
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|
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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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|
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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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/** |
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* 取样本 |
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* @param from 样本位置 |
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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 takeSampleOnly(A8kSamplePos from, Integer ul) throws AppException { |
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log.info("takeSampleOnly: from={},ul={}ul", from, ul); |
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|
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// 取TIP |
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// forceTakeTip(); |
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ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP"); |
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|
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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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|
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//TODO:取样 |
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{ |
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|
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} |
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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, LLD_P_THRESHOLD); |
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// if (!pipetteCtrlDriverV2.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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// |
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// //获取当前液面高度 |
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// liquidLevel = pipetteCtrlDriverV2.getReg(PipetteRegIndex.kreg_pipette_zm_pos); |
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// liquidLevel += 10;//保证液面高度 |
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// |
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// //取样准备 |
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// pipetteCtrlDriverV2.zMotorMoveToBlock(sampleStartPos.z); //回到0 |
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// pumpMoveTo(8000, 0.0); //排空 |
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// pumpMoveTo(PRE_ASPIRATE_PUMP_VMAX, ASPIRATE_PRE_TAKE); //预先吸入部分空气 |
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// |
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// //取样 |
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// pipetteCtrlDriverV2.zMotorMoveToBlock(liquidLevel); |
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// aspirate(sampleEndZPos, pipetteGunExParamMgr.getSampleLLFVel(ul * 1.0, from), ul * 1.0); |
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// pipetteCtrlDriverV2.zMotorMoveToBlock(0); |
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|
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|
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} |
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|
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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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takeSampleOnly(from, ul); |
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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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|
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Integer shakeUl = MIX_VOLUME_UL; |
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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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//TODO: 吐样&&摇匀 |
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{ |
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|
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} |
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//z轴回0 |
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pipetteCtrlDriverV2.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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pipetteCtrlDriverV2.zMotorMoveToBlock(0); |
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} |
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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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// |
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// hbotMoveExCtrlService.moveToXY(reactionPos); |
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// pipetteCtrlDriverV2.zMotorMoveByBlock(0); |
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// makeReserveAir(100); |
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// |
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// hbotMoveExCtrlService.moveToZ(reactionPos); |
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// aspirate(reactionPos.z, 0, (double) REACTION_VOLUME_UL); |
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// |
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// hbotMoveExCtrlService.moveToDropLiquidPos(); |
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// pumpMoveTo(8000, 0.0); |
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// |
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// hbotMoveExCtrlService.initPipetterGun(); |
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// hbotMoveExCtrlService.moveQuickToZero(); |
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} |
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} |
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@ -0,0 +1,383 @@ |
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package a8k.app.service.module; |
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|
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|
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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.PipetteCtrlDriverV2; |
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import a8k.app.hardware.type.A8kEcode; |
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import a8k.app.hardware.type.pipette_module.DistribuType; |
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import a8k.app.hardware.type.pipette_module.cpyidx.ContainerCpyId; |
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import a8k.app.hardware.type.pipette_module.cpyidx.LiquidConfigCpyIdx; |
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import a8k.app.hardware.type.pipette_module.param.AspirationParam; |
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import a8k.app.hardware.type.pipette_module.param.DistribuAllParam; |
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import a8k.app.service.lowerctrl.HbotMoveExCtrlService; |
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import a8k.app.service.param.exparam.HbotConsumableExParamMgr; |
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import a8k.app.service.param.hbotpos.HbotFixedPosParamMgr; |
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import a8k.app.service.param.hbotpos.HbotSamplePosParamMgr; |
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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.UISender; |
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import a8k.app.service.utils.ZAppChecker; |
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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.exception.AppException; |
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import a8k.app.type.param.type.A8kSamplePos; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.stereotype.Component; |
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|
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class LiquidOperationCtrlModule { |
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static public final Integer MIX_VOLUME_UL = 200; |
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|
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|
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private final GStateMgrService gstate; |
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|
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/* |
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* CTRL-SERVICE |
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*/ |
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private final HbotMoveExCtrlService hbotMoveExCtrlService; |
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private final PipetteCtrlDriverV2 pipetteCtrlDriverV2; |
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|
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/* |
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* PARAM-MGR |
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*/ |
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private final HbotConsumableExParamMgr hbotConsumableExParamMgr; |
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/** |
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* StateMgr |
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*/ |
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private final ConsumablesMgrService consumablesMgrService; |
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private final HbotSamplePosParamMgr hbotSamplePosParamMgr; |
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private final HbotFixedPosParamMgr hbotFixedPosParamMgr; |
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|
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private final TipMgrModule tipMgrModule; |
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|
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|
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ProjBuildinInfo projBuildinInfo; |
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ProjExtInfoCard projExtInfo; |
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|
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|
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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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|
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/** |
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* 取大瓶缓冲液到探测物质位置 |
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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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tipMgrModule.tryTakeTip(); |
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ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP"); |
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|
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Pos3d largeBSContainerPos = hbotConsumableExParamMgr.getLargeBuffer(from.group);//大瓶缓冲液位置 |
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Pos3d probeSubstanceContainerPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(topos.group, topos.index);//探测物质位置 |
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Pos3d probeSubstancePiercePos = hbotConsumableExParamMgr.getProbeSubstancePiercePos(topos.group, topos.index);//探测物质刺破位置 |
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|
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|
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// 刺破探测物质 |
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UISender.txInfoMsg(log, "刺破探测物质:%s" + topos); |
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hbotMoveExCtrlService.moveToXY(probeSubstancePiercePos); |
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pipetteCtrlDriverV2.pierceThroughBlock(ContainerCpyId.DetectSubstancesCup, probeSubstanceContainerPos.z); |
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|
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// 移动到取样位 && 取样 |
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UISender.txInfoMsg(log, "移动到大瓶缓冲液位置:%s", largeBSContainerPos); |
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hbotMoveExCtrlService.moveToXY(largeBSContainerPos); |
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// 预吸取 |
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UISender.txInfoMsg(log, "预吸取大瓶缓冲液:%dul", ul); |
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pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( |
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ul * 10, |
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largeBSContainerPos.z, |
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ContainerCpyId.LargeBufferCup, |
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LiquidConfigCpyIdx.BufferSolution, |
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0, |
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1, |
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0, |
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0, |
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0, |
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0, |
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0, |
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0 |
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)); |
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|
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// 移动到探测物质位置,吐液 |
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|
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|
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// 移动到取样位 |
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UISender.txInfoMsg(log, "移动到探测物质位置:%s", probeSubstanceContainerPos); |
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hbotMoveExCtrlService.moveToXY(probeSubstanceContainerPos); |
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// 吐液 |
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UISender.txInfoMsg(log, "吐液到探测物质位置:%dul", ul); |
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pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam( |
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probeSubstanceContainerPos.z, |
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ContainerCpyId.DetectSubstancesCup, |
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LiquidConfigCpyIdx.NotSet, |
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true, |
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DistribuType.JET_DIST, |
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0, |
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0, |
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true |
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)); |
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// 丢弃TIP |
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UISender.txInfoMsg(log, "丢弃TIP"); |
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tipMgrModule.dropTip(); |
|||
|
|||
hbotMoveExCtrlService.moveQuickToZero(); |
|||
} |
|||
|
|||
|
|||
ContainerCpyId a8kSamplePosToContainerCpyId(A8kSamplePos a8kSamplePos) { |
|||
return switch (a8kSamplePos) { |
|||
case EmergencyTubePos, BloodSTubePos -> ContainerCpyId.ShortWholeBufferTube; |
|||
case BloodHTubePos -> ContainerCpyId.HighWholeBufferTube; |
|||
case MiniBloodPos -> ContainerCpyId.MiniBlood; |
|||
case Bulltube1P5Pos -> ContainerCpyId.BulletTube1P5; |
|||
case Bulltube0P5Pos -> ContainerCpyId.BulletTube0P5; |
|||
case StoolTestTubePos -> ContainerCpyId.StoolTestTube; |
|||
}; |
|||
} |
|||
|
|||
/** |
|||
* 取样本 |
|||
* @param from 样本位置 |
|||
* @param ul 吸取量 |
|||
* @throws AppException 异常 |
|||
*/ |
|||
public void takeSampleOnly(A8kSamplePos from, Integer ul) throws AppException { |
|||
log.info("takeSampleOnly: from={},ul={}ul", from, ul); |
|||
|
|||
Pos3d sampleContainerPos = hbotSamplePosParamMgr.getSampleContainerPos(from);//样本位置 |
|||
|
|||
|
|||
// 取TIP |
|||
tipMgrModule.tryTakeTip(); |
|||
ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP"); |
|||
|
|||
//移动到取样位 |
|||
UISender.txInfoMsg(log, "移动到样本位置:%s", sampleContainerPos); |
|||
hbotMoveExCtrlService.moveToXY(sampleContainerPos); |
|||
|
|||
//取样 |
|||
UISender.txInfoMsg(log, "取样:%dul", ul); |
|||
pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( |
|||
ul * 10, |
|||
sampleContainerPos.z, |
|||
a8kSamplePosToContainerCpyId(from), |
|||
LiquidConfigCpyIdx.NotSet, |
|||
0, |
|||
1, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0 |
|||
)); |
|||
} |
|||
|
|||
|
|||
public void pirceLittleBuffer(PreReactionPos pos) throws AppException { |
|||
// 取TIP |
|||
tipMgrModule.tryTakeTip(); |
|||
ZAppChecker.check(pipetteCtrlDriverV2.readTipState(), A8kEcode.CODEERROR, "未检测到TIP"); |
|||
|
|||
Pos3d pircePos; |
|||
ContainerCpyId containerCpyId; |
|||
|
|||
if (pos.type.equals(ConsumableType.ProbeSubstance)) { |
|||
pircePos = hbotConsumableExParamMgr.getProbeSubstancePiercePos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.DetectSubstancesCup; |
|||
} else { |
|||
pircePos = hbotConsumableExParamMgr.getLittleBufferPiercePos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.LittleBufferCup; |
|||
} |
|||
|
|||
pipetteCtrlDriverV2.pierceThroughBlock(containerCpyId, pircePos.z); |
|||
} |
|||
|
|||
|
|||
/** |
|||
* 取样本到探测物质 |
|||
* @param from 样本位置 |
|||
* @param pos 预先反应位置P |
|||
* @param ul 吸取量 |
|||
* @throws AppException 异常 |
|||
*/ |
|||
public void takeSampleToPreReactionPos(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException { |
|||
log.info("takeSampleToPreReactionPos: from={}, pos={}, ul={}ul", from, pos, ul); |
|||
takeSampleOnly(from, ul); |
|||
|
|||
Pos3d reactionPos; |
|||
ContainerCpyId containerCpyId; |
|||
Integer shakeUl = MIX_VOLUME_UL; |
|||
Integer shakeTimes = 5; |
|||
|
|||
if (pos.type.equals(ConsumableType.ProbeSubstance)) { |
|||
reactionPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.DetectSubstancesCup; |
|||
} else { |
|||
reactionPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.LittleBufferCup; |
|||
} |
|||
if (projBuildinInfo != null) { |
|||
shakeUl = projBuildinInfo.mixedLiquidMixingVolUl; |
|||
shakeTimes = projBuildinInfo.mixedLiquidMixingTimes; |
|||
} |
|||
|
|||
// 移动到反应位 |
|||
UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos); |
|||
hbotMoveExCtrlService.moveToXY(reactionPos); |
|||
|
|||
//z轴移动到反应位 |
|||
UISender.txInfoMsg(log, "分配样本"); |
|||
pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam( |
|||
reactionPos.z, |
|||
containerCpyId, |
|||
LiquidConfigCpyIdx.BufferSolution, |
|||
false, |
|||
DistribuType.SURFACE_DIST, |
|||
shakeUl * 10, // 预先反应位置的液体量 |
|||
shakeTimes, |
|||
true |
|||
)); |
|||
} |
|||
|
|||
/** |
|||
* 取样本液到预反应位，混合后，再取样 |
|||
* @param from |
|||
* @param pos |
|||
* @param ul |
|||
* @throws AppException |
|||
*/ |
|||
public void takeSampleToPreReactionPosAndAspirate(A8kSamplePos from, PreReactionPos pos, Integer ul) throws AppException { |
|||
log.info("takeSampleToPreReactionPosAndTakeToReactionPlate: from={}, pos={}, ul={}ul", from, pos, ul); |
|||
takeSampleOnly(from, ul); |
|||
|
|||
Pos3d reactionPos; |
|||
ContainerCpyId containerCpyId; |
|||
Integer shakeUl = MIX_VOLUME_UL; |
|||
Integer shakeTimes = 5; |
|||
|
|||
if (pos.type.equals(ConsumableType.ProbeSubstance)) { |
|||
reactionPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.DetectSubstancesCup; |
|||
} else { |
|||
reactionPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.LittleBufferCup; |
|||
} |
|||
if (projBuildinInfo != null) { |
|||
shakeUl = projBuildinInfo.mixedLiquidMixingVolUl; |
|||
shakeTimes = projBuildinInfo.mixedLiquidMixingTimes; |
|||
} |
|||
|
|||
// 移动到反应位 |
|||
UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos); |
|||
hbotMoveExCtrlService.moveToXY(reactionPos); |
|||
|
|||
//z轴移动到反应位 |
|||
UISender.txInfoMsg(log, "分配样本"); |
|||
pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam( |
|||
reactionPos.z, |
|||
containerCpyId, |
|||
LiquidConfigCpyIdx.BufferSolution, |
|||
false, |
|||
DistribuType.SURFACE_DIST, |
|||
shakeUl * 10, // 预先反应位置的液体量 |
|||
shakeTimes, |
|||
false |
|||
)); |
|||
|
|||
UISender.txInfoMsg(log, "取混合液"); |
|||
pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( |
|||
750, // 预先反应位置的液体量 |
|||
reactionPos.z, |
|||
containerCpyId, |
|||
LiquidConfigCpyIdx.BufferSolution, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0 |
|||
)); |
|||
} |
|||
|
|||
|
|||
/** |
|||
* 取反应液到反应板上 |
|||
* @param pos 反应板位置 |
|||
* @throws AppException 异常 |
|||
*/ |
|||
public void takePreReactionLiquid(PreReactionPos pos) throws AppException { |
|||
log.info("takePreReactionLiquidToReactionPos: from pos={}", pos); |
|||
|
|||
tipMgrModule.tryTakeTip(); |
|||
|
|||
Pos3d reactionPos; |
|||
ContainerCpyId containerCpyId; |
|||
|
|||
if (pos.type.equals(ConsumableType.ProbeSubstance)) { |
|||
reactionPos = hbotConsumableExParamMgr.getProbeSubstanceContainerPos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.DetectSubstancesCup; |
|||
} else { |
|||
reactionPos = hbotConsumableExParamMgr.getLittleBufferSamplePos(pos.group, pos.index); |
|||
containerCpyId = ContainerCpyId.LittleBufferCup; |
|||
} |
|||
|
|||
|
|||
UISender.txInfoMsg(log, "移动到预先反应位置:%s", reactionPos); |
|||
hbotMoveExCtrlService.moveToXY(reactionPos); |
|||
|
|||
UISender.txInfoMsg(log, "取混合液"); |
|||
pipetteCtrlDriverV2.aspirateBlock(new AspirationParam( |
|||
750, // 预先反应位置的液体量 |
|||
reactionPos.z, |
|||
containerCpyId, |
|||
LiquidConfigCpyIdx.BufferSolution, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0, |
|||
0 |
|||
)); |
|||
|
|||
|
|||
} |
|||
|
|||
public void dropLiquidToReactionPlate() throws AppException { |
|||
log.info("dropLiquidToReactionPlate"); |
|||
|
|||
Pos3d dropLiquidPos = hbotFixedPosParamMgr.getDropLiquidPos(); |
|||
|
|||
|
|||
UISender.txInfoMsg(log, "移动到预先反应位置:%s", dropLiquidPos); |
|||
hbotMoveExCtrlService.moveToXY(dropLiquidPos); |
|||
|
|||
UISender.txInfoMsg(log, "分配到反应板位置"); |
|||
pipetteCtrlDriverV2.distributeAllBlock(new DistribuAllParam( |
|||
dropLiquidPos.z, |
|||
ContainerCpyId.ReactionPlate, |
|||
LiquidConfigCpyIdx.BufferSolution, |
|||
false, |
|||
DistribuType.JET_DIST, |
|||
0, |
|||
0, |
|||
true |
|||
)); |
|||
} |
|||
|
|||
|
|||
} |
|||
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