public int GetPressure(Enterclose ent)
{
bool is_timeout = false;
CanComm.ReadRegister(ent.PumpMotor.Pressure.Addr);
int pressure = CanComm.GetIntBlock(ent.PumpMotor.Pressure.Addr, 2000, out is_timeout);
return(is_timeout?-1:pressure);
}
public Injector(byte count)
{
XMotor = new Electromotor();
TMotor = new Electromotor();
Entercloses = new Enterclose[count];
for (byte i = 0; i < count; i++)
{
Entercloses[i] = new Enterclose(i);
}
}
//按小组生成动作
public Sequence GenerateAction(List <T_GelStep> act_group, SampleInfo sample_info, ref int[] point)
{
//更新坐标计算针头个数
int zt_count = 0;
foreach (var act in act_group)
{
zt_count += act.InjectCount;
act.UpdataPoints(sample_info);
}
var resmanager = ResManager.getInstance();
Enterclose[] enters = new Enterclose[zt_count];//使用加样器个数
for (int i = 0; i < zt_count; i++)
{
enters[i] = injectorDevice.Injector.Entercloses[i];
}
int[] width = { 0, 0, 0, 0 };
int[] tipgp = { 0, 0, 0, 0 };
for (int i = 0; i < 4; i++)
{
width[i] = (int)injectorDevice.Injector.Entercloses[1].YZero;
tipgp[i] = (int)injectorDevice.Injector.Entercloses[i].MinDistance;
}
//生成装帧动作
var tip_seat = resmanager.GetFreeTipActPoint(zt_count, 2);
var sequ_taketip = GenerateInjectActGroup(tip_seat, ref point, width, tipgp);
//生成加样动作
var sequ_takesample = Sequence.create();
var act_tree = DivideXIntoGroups(act_group);
int inject_beg = 0;
int[] point = { 0, 0, 0, 0 };
for (int i = 0; i < 4; i++)
{
point[i] = (int)injectorDevice.Injector.Entercloses[i].YMotor.CurrentDistance;
if (point[i] == 0)
{
point[i] += (int)injectorDevice.Injector.Entercloses[i].YZero;
}
}
foreach (var act_g in act_tree)
{
var sque_movey = Sequence.create();
int index = 0;
bool is_ok = false;
int[] tager = { -1, -1, -1, -1 };
int[] width = { 0, 0, 0, 0 };
for (int i = 0; i < 4; i++)
{
width[i] = (int)injectorDevice.Injector.Entercloses[1].YZero;
if (i < act_g.Count())
{
tager[inject_beg + i] = act_g[i].Abs_Y;
}
}
GenerateInjectActGroup(ref sque_movey, ref index, ref tager, ref point, ref width, ref is_ok);
inject_beg += act_g.Count();
if (is_ok)
{
sequ_takesample.AddAction(MoveTo.create(30000, act_g[0].Abs_X, -1, -1));//移动X
sequ_takesample.AddAction(sque_movey);
}
}
////生成混合液体
//var sequ_mixsample = Sequence.create();
//foreach (var act in act_group)
//{
// if (act.IsMix())
// {
// sequ_mixsample.AddAction(MoveTo.create(30000, act.Mix_X, act.Mix_Y, -1));
// sequ_mixsample.AddAction(InjectMoveTo.create(30000,enters,-1,IMask.Gen(-1),IMask.Gen(act.Mix_Z)));
// if (act.StepClass == TestStepEnum.FPXSY)
// {
// for (int i = 0; i < 3; i++)
// {
// absorbs[0] = 1000;
// sequ_mixsample.AddAction(InjectAbsorb.create(30000, enters, 100, absorbs));
// absorbs[0] = -1000;
// sequ_mixsample.AddAction(InjectAbsorb.create(30000, enters, 100, absorbs));
// }
// }
// if (act.IsSpu() == false)
// {
// absorbs[0] = 1000;
// sequ_mixsample.AddAction(InjectAbsorb.create(30000, enters, 100, absorbs));
// }
// sequ_mixsample.AddAction(InjectMoveTo.create(30000, enters, -1, IMask.Gen(-1), IMask.Gen(0)));
// }
//}
////生成分配动作
//var sequ_putsample = Sequence.create();
//foreach (var act in act_group)
//{
// if (act.IsSpu())
// {
// sequ_putsample.AddAction(MoveTo.create(30000, act.Spu_X, act.Spu_Y, -1));
// sequ_putsample.AddAction(InjectMoveTo.create(30000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(act.Spu_Z)));
// absorbs[0] = 1000;
// sequ_putsample.AddAction(InjectAbsorb.create(30000, injectorDevice.GetSeleteced(), 100, absorbs));
// sequ_putsample.AddAction(InjectMoveTo.create(30000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
// }
//}
var action_list = Sequence.create();
////生成脱针动作
//var sequ_puttip = Sequence.create();
//var inject_unload = resmanager.unload_list;
//if (inject_unload.Count() == 1)
//{
// sequ_puttip.AddAction(InjectPutTip.create(30000, (int)inject_unload[0].Z, 800, (int)inject_unload[0].FirstX, 0, new TakeTipData((int)inject_unload[0].X, (int)inject_unload[0].Y, 0, 1)));
// sequ_puttip.AddAction(InitXyz.create(30000, injectorDevice.GetSeleteced(), false, false, true));
//}
action_list.AddAction(sequ_taketip);
//action_list.AddAction(sequ_takesample);
//action_list.AddAction(sequ_mixsample);
//action_list.AddAction(sequ_putsample);
//action_list.AddAction(sequ_puttip);
return(action_list);
}
//按小组生成动作
public Sequence GenerateAction(List <T_GelStep> act_group)
{
//更新坐标计算吸头个数
int zt_count = 0;
foreach (var act in act_group)
{
zt_count += act.InjectCount;
}
var resmanager = ResManager.getInstance();
Enterclose[] enters = new Enterclose[zt_count];//使用加样器个数
for (int i = 0; i < zt_count; i++)
{
enters[i] = Engine.getInstance().injectorDevice.Injector.Entercloses[i];
}
//生成装帧动作
var tip_seat = resmanager.GetFreeTipActPoint(zt_count, 2);
var sequ_taketip = InjectMoveActs.create(3001, tip_seat, false);
//生成加样动作
var sequ_takesample = Sequence.create();
List <ActionPoint> abs_seat = new List <ActionPoint>();
foreach (var act_abs in act_group)
{
var abs_point = GelStepToActionPoint(act_abs, TestStepEnum.AbsLiquid);
abs_seat.Add(abs_point);
}
sequ_takesample.AddAction(InjectMoveActs.create(3001, abs_seat.ToArray(), true));
//生成混合液体
var sequ_mixsample = Sequence.create();
List <ActionPoint> mix_seat = new List <ActionPoint>();
foreach (var act_mix in act_group)
{
if (act_mix.is_mix)
{
var mix_point = GelStepToActionPoint(act_mix, TestStepEnum.MixLiquid);
mix_seat.Add(mix_point);
}
}
sequ_mixsample.AddAction(InjectMoveActs.create(3001, mix_seat.ToArray(), true));
//生成分配动作
var sequ_putsample = Sequence.create();
List <ActionPoint> spu_seat = new List <ActionPoint>();
int spu_index = 0;
foreach (var act_spu in act_group)
{
if (act_spu.is_spu)
{
var spu_point = GelStepToActionPoint(act_spu, TestStepEnum.SpuLiquid);
var tubelist = spu_point.GetTubeList();
for (int i = 0; i < tubelist.Count(); i++)
{
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
points[spu_index] = (ActionPoint)spu_point.Clone();
points[spu_index].x = (int)(spu_point.x + tubelist[i] * spu_point.tube_gap);
if (tubelist.Count() != 1 && i >= 0 && i < tubelist.Count() - 1)
{
points[spu_index].zb = points[spu_index].z - 1500;
if (points[spu_index].zb <= 0)
{
points[spu_index].zb = 0;
}
}
sequ_putsample.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
}
}
spu_index++;
}
//生成脱针动作
var sequ_puttip = Sequence.create();
List <ActionPoint> unload_seat = new List <ActionPoint>();
var inject_unload = resmanager.unload_list;
if (inject_unload.Count() == 1)
{
var unloader = inject_unload[0];
for (int i = 0; i < 4; i++)
{
var unload_point = new ActionPoint((int)unloader.X, (int)unloader.Y + i * (int)unloader.FZ, (int)unloader.Z, TestStepEnum.PutTip);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveActs.create(3001, unload_seat.ToArray(), true));
}
var action_list = Sequence.create();
action_list.node = Engine.getInstance().injectorDevice;
action_list.AddAction(sequ_taketip);
action_list.AddAction(sequ_takesample);
action_list.AddAction(sequ_mixsample);
action_list.AddAction(sequ_putsample);
//action_list.AddAction(sequ_puttip);
return(action_list);
}
//按小组生成动作
public Sequence GenerateAction(List <T_GelStep> act_group)
{
//更新坐标计算吸头个数
int zt_count = 0;
foreach (var act in act_group)
{
act.InjIndex = zt_count;
zt_count += act.InjectCount;
}
var resmanager = ResManager.getInstance();
Enterclose[] enters = new Enterclose[zt_count];//使用加样器个数
for (int i = 0; i < zt_count; i++)
{
enters[i] = Engine.getInstance().injectorDevice.Injector.Entercloses[i];
}
//生成装帧动作
var tip_seat = resmanager.GetFreeTipActPoint(zt_count, 2);
var sequ_taketip = InjectMoveActs.create(3001, tip_seat, false);
//生成加样动作
var sequ_takesample = Sequence.create();
List <ActionPoint> abs_seat = new List <ActionPoint>();
int abs_index = 0;
var abs_width_rate = IMask.Gen(1.0f);
foreach (var act_abs in act_group)
{
var abs_point = GelStepToActionPoint(act_abs, TestStepEnum.AbsLiquid, null);
var agentseat = resmanager.GetAgentiaWarehouseSeat(abs_point.liquid_type);
if (agentseat != null)
{
abs_width_rate[act_abs.InjIndex] = !act_abs.GetLiquidInfo().IsAgentia ? 0.7693f : 1.1f;
abs_point.y += (int)(agentseat.Gap * abs_index) * (agentseat.Count == 1 ? 1 : 0);
}
abs_seat.Add(abs_point);
abs_index++;
}
sequ_takesample.AddAction(InjectMoveActs.create(3001, abs_seat.ToArray(), true, abs_width_rate));
//计算混合是否需要分配（当前卡在第一卡位时且只有一个试验）
var inj_exp_list = ExperimentLogic.getInstance().GetInjExpPackageList();
foreach (var act_mix in act_group)
{
var exp = (ExperimentPackage)act_mix.ExperPackage;
var piperseat = resmanager.GetResByCode(exp.GetGelMask(), "T_BJ_GelSeat", "", "4");
if (piperseat.CountX == 0 && inj_exp_list.Count == 1)
{
act_mix.is_spu = act_mix.InjIndex == 0;
}
else
{
act_mix.is_spu = act_mix.LiquidTypeIndex == act_mix.GetFpytInfo().LiquidList.Count - 1;
}
}
//得到可用深盘
var mix_list = act_group.Where(item => item.is_mix == true).ToList();
mix_list = mix_list.Where((x, x_index) => x_index == (mix_list.FindIndex(y => y.MixCode == x.MixCode))).ToList();
int mix_inj_count = mix_list.Count;
var mix_deep_seat = resmanager.GetFreeDeepPlate(mix_inj_count, 2);
//生成混合液体
var sequ_mixsample = Sequence.create();
var mix_seat = IMask.Gen(new ActionPoint(-1, -1, -1));
int mix_index = 0;
foreach (var act_mix in act_group)
{
if (act_mix.is_mix)
{
var mix_point = GelStepToActionPoint(act_mix, TestStepEnum.MixLiquid, mix_deep_seat[mix_index % mix_inj_count]);
mix_seat[act_mix.InjIndex] = mix_point;
mix_index++;
}
}
sequ_mixsample.AddAction(InjectMoveActs.create(3001, mix_seat.ToArray(), true));
//生成分配动作
var sequ_putsample = Sequence.create();
//查找卡位
List <ActionPoint> spupoint_list = new List <ActionPoint>();
foreach (var act_spu in act_group)
{
if (act_spu.is_spu)
{
var spu_point = GelStepToActionPoint(act_spu, TestStepEnum.SpuLiquid, null);
spu_point.index = act_spu.InjIndex;
spupoint_list.Add(spu_point);
}
}
var hit_count = IMask.Gen(0);
for (int i = 0; i < 8; i++)
{
bool is_find = false;
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var spuc in spupoint_list)
{
bool is_hit = (spuc.tube & (0x01 << i)) != 0;
if (is_hit)
{
var tubelist = spuc.GetTubeList();
points[spuc.index] = (ActionPoint)spuc.Clone();
points[spuc.index].x = (int)(spuc.x + i * spuc.tube_gap);
points[spuc.index].y = (int)spuc.y;
if (tubelist.Count() != 1 && hit_count[spuc.index] < tubelist.Count() - 1)
{
points[spuc.index].zb = points[spuc.index].z - 1500;
if (points[spuc.index].zb <= 0)
{
points[spuc.index].zb = 0;
}
}
hit_count[spuc.index]++;
is_find = true;
}
}
if (is_find)
{
sequ_putsample.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
}
}
//生成脱针动作
var sequ_puttip = Sequence.create();
List <ActionPoint> unload_seat = new List <ActionPoint>();
var inject_unload = resmanager.unload_list;
if (inject_unload.Count() == 1)
{
var unloader = inject_unload[0];
for (int i = 0; i < 4; i++)
{
var unload_point = new ActionPoint((int)unloader.X, (int)unloader.Y + i * (int)unloader.FZ, (int)unloader.Z, TestStepEnum.PutTip);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveActs.create(3001, unload_seat.ToArray(), true));
}
var action_list = Sequence.create();
action_list.node = Engine.getInstance().injectorDevice;
action_list.AddAction(sequ_taketip);
action_list.AddAction(sequ_takesample);
action_list.AddAction(sequ_mixsample);
action_list.AddAction(sequ_putsample);
action_list.AddAction(sequ_puttip);
return(action_list);
}
public void checkNull()
{
XMotor = XMotor ?? new Electromotor();
TMotor = TMotor ?? new Electromotor();
Entercloses = Entercloses ?? new Enterclose[Constants.EntercloseCount];
if (Entercloses.Length > Constants.EntercloseCount)
{
var ets = new Enterclose[Constants.EntercloseCount];
Array.Copy(Entercloses, ets, Constants.EntercloseCount);
Entercloses = ets;
}
else if (Entercloses.Length < Constants.EntercloseCount)
{
var ets = new Enterclose[Constants.EntercloseCount];
Array.Copy(Entercloses, ets, Entercloses.Length);
Entercloses = ets;
}
for (byte i = 0; i < Constants.EntercloseCount; i++)
{
var et = Entercloses[i];
if (et == null)
{
et = new Enterclose(i);
}
et.PumpMotor = et.PumpMotor ?? new DoubleSpeedMotor();
et.YMotor = et.YMotor ?? new DoubleSpeedMotor();
et.ZMotor = et.ZMotor ?? new DoubleSpeedMotor();
if (et.ZMotor.SecondSpeed == null)
{
et.ZMotor.SecondSpeed = new PLCParameter <int>();
}
if (et.PumpMotor.SecondSpeed == null)
{
et.PumpMotor.SecondSpeed = new PLCParameter <int>();
}
if (et.YMotor.SecondSpeed == null)
{
et.YMotor.SecondSpeed = new PLCParameter <int>();
}
if (et.ZMotor.DownSpeed == null)
{
et.ZMotor.DownSpeed = new PLCParameter <int>();
}
if (et.PumpMotor.DownSpeed == null)
{
et.PumpMotor.DownSpeed = new PLCParameter <int>();
}
if (et.YMotor.DownSpeed == null)
{
et.YMotor.DownSpeed = new PLCParameter <int>();
}
//et.Valid = true;
et.Pressure = et.Pressure ?? new PLCParameter <int>();
et.ExistTipCoil = et.ExistTipCoil ?? new PLCParameter <bool>();
//et.PumpMotor.ProgramZero = 0;
//et.ValidCoil = et.ValidCoil ?? new PLCParameter<bool>();
}
}
