public override ActionBase InitAll()
{
var seque = Sequence.create(InitXyz.create(this, 10000, true, false, false));
foreach (var ware_seat in ResManager.getInstance().gelwarehouse_list)
{
seque.AddAction(MoveTo.create(this, 5000, (int)ware_seat.DetectX));
seque.AddAction(SkCallBackFun.create((ActionBase acttem) => {
var res = TestGelCard();
if (res != null)
{
for (int i = 0; i < ware_seat.Count; i++)
{
ware_seat.Values[i, 0] = null;
if (res[i + (int)ware_seat.DoorX])
{
var resinfo = new ResInfoData();
ware_seat.Values[i, 0] = resinfo;
}
}
}
return(true);
}));
}
seque.AddAction(ScanGelFromWare.create(handDevice, 20000, this));
seque.AddAction(MoveTo.create(this, 5000, 0));
seque.AddAction(InitXyz.create(this, 10000, true, false, false));
return(seque);
}
public void StopMixer()
{
var run_act = Sequence.create();
var mixer_act = ActionManager.getInstance().getAllActions(couveuseMixerDevice);
if (mixer_act.Count != 0)
{
run_act.AddAction(SkCallBackFun.create((ActionBase act_tem) => {
if (mixer_act.Count != 0)
{
mixer_act[0].stop();
}
return(true);
}));
run_act.AddAction(InitXyz.create(10000, false, false, true));
run_act.runAction(couveuseMixerDevice);
}
}
public void DoTest()
{
ResManager resmanager = ResManager.getInstance();
var piercer = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4");
if (piercer != null)
{
int init_speed = (int)piercerDevice.Pie.ZMotor.InitSpeed.SetValue;
for (int i = 0; i < TestCount; i++)
{
int index = i % 12;
var act = Sequence.create(MoveTo.create(30000, -1, index * (int)piercer.PiercerGap + (int)piercer.PiercerY, -1), MoveTo.create(30000, -1, -1, (int)piercer.PiercerZ),
SkCallBackFun.create((ActionBase actem) => { piercerDevice.CanComm.SetRegister(piercerDevice.Pie.ZMotor.InitSpeed.Addr, 200); return(true); }),
InitXyz.create(3000, false, false, true),
SkCallBackFun.create((ActionBase actem) => { piercerDevice.CanComm.SetRegister(piercerDevice.Pie.ZMotor.InitSpeed.Addr, init_speed); return(true); }));
act.runAction(piercerDevice);
}
}
}
/// <summary>
/// 初始化所有设备
/// </summary>
/// <returns></returns>
public ActionBase InitAllDevice()
{
var devices = new ValueTuple <AbstractCanDevice, String>[] { (this, "样本扫码器载架初始化失败")
, (IoC.Get <PiercerDevice>(), "打孔器初始化失败")
, (IoC.Get <CentrifugeMrg>(), "离心管理器初始化失败")
//,(IoC.Get<GelWarehouseDevice>(),"卡仓初始化失败")
, (IoC.Get <CouveuseMixerDevice>(), "孵育或混匀初始化失败")
//,(IoC.Get<MachineHandDevice>(),"机械手初始化失败")
//,(IoC.Get<InjectorDevice>(),"加样器初始化失败")
};
var seq = Sequence.create();
var spa = Spawn.create();
spa.AddAction(InitXyz.create(this, 10000, true, false, false));
foreach (var device in devices)
{
var act = device.Item1.InitAll();
if (act != null)
{
spa.AddAction(act);
}
}
var seq_hand_ware_inj = Sequence.create();
var act_inj = IoC.Get <InjectorDevice>().InitAll();
var act_hand = IoC.Get <MachineHandDevice>().InitAll();
var act_ware = IoC.Get <GelWarehouseDevice>().InitAll();
seq_hand_ware_inj.AddAction(act_inj);
seq_hand_ware_inj.AddAction(act_hand);
seq_hand_ware_inj.AddAction(act_ware);
spa.AddAction(seq_hand_ware_inj);
seq.AddAction(Sequence.create(spa, SkCallBackFun.create((ActionBase acttem) =>
{
if (acttem.istimeout == false)
{
ErrorSystem.WriteActError("开机成功!", true, false);
}
return(true);
})));
CameraLight(false);
LedGreen();
return(seq);
}
/// <summary>
/// 探测卡
/// </summary>
public void TestGelCard(double index)
{
if (GelWareList == null || GelWareList.Count == 0 || index >= GelWareList.Count)
{
return;
}
GWInfo = "";
var t_gelWare = GelWareList[Convert.ToByte(index)] as T_BJ_GelWarehouse;
var seq = Sequence.create(
MoveTo.create(5000, (int)t_gelWare.DetectX),
SkCallBackFun.create((ActionBase acttem) => {
var res = this.gelwareDevice.TestGelCard();
if (res != null)
{
GWInfo = String.Join(" ", res.Select((item, indexx) => { return(item ? (indexx + 1) + "" : ""); }).ToArray());
}
return(true);
}));
seq.runAction(gelwareDevice);
}
public void RackChange(int tagerid, byte [] data)
{
if (visible == false)
{
return;
}
rack_index = GetRackIndex(data[5]);
var seq_move = Sequence.create();
if (rack_index >= 0)
{
var rack_info = ResManager.getInstance().GetSampleRack(rack_index + 1);
seq_move.AddAction(MoveTo.create(op, 3000, (int)rack_info.ReaderX));
seq_move.AddAction(SkCallBackFun.create((ActionBase act_tem) => {
scaner.CancelAllEvent();
scaner.Open(scaner_port);
var res = scaner.Start(false);
if (res)
{
scaner.DataReceived += Scaner_DataReceived;
}
else
{
scaner.Close();
}
return(true);
}));
}
else
{
scaner.Stop();
scaner.Close();
seq_move.AddAction(MoveTo.create(op, 3000, 0));
}
seq_move.runAction(op);
}
//生成加样移动
public void GenerateSampleAddAct(ref Sequence seque, ref int index, ref int[] tager, ref int[] point, ref int[] width, ref bool is_ok)
{
bool isforward = false;
bool isback = false;
if (index == 4)
{
is_ok = true;
return;
}
else
{
isforward = index - 1 >= 0 ? tager[index] >= point[index - 1] + width[index - 1] : true;
isback = index + 1 <= 3 ? tager[index] + width[index] <= point[index + 1] : true;
}
if (tager[index] < 0)
{
index++;
GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok);
}
else if (isforward && isback)
{
//单移
point[index] = tager[index];
int[] y = { -1, -1, -1, -1 };
int[] z = { -1, -1, -1, -1 };
y[index] = point[index] - width[index] * index;
z[index] = -1;
var move_act = Sequence.create(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, y, z), SKSleep.create(index * 500), MoveTo.create(handDevice, 300000, -1, -1, 100), MoveTo.create(handDevice, 300000, -1, -1, 0));
//查找上一个sp
if (seque.actionlist[seque.actionlist.Count() - 1] is Spawn)
{
var spawn = (Spawn)seque.actionlist[seque.actionlist.Count() - 1];
spawn.AddAction(move_act);
}
else
{
var spawn = Spawn.create();
spawn.AddAction(move_act);
seque.AddAction(spawn);
}
index++;
GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok);
}
else if (isforward && isback == false)
{
//全移
int movew = tager[index] - point[index];
for (int i = index; i < 4; i++)
{
point[i] = point[i] + movew;
}
int indexx = index;
int y = point[index] - width[index] * index;
var move_act = Sequence.create(SkCallBackFun.create((ActionBase act) =>
{
for (int i = 0; i < 4; i++)
{
injectorDevice.Injector.Entercloses[i].Selected = i >= indexx;
}
return(true);
}), MoveTo.create(injectorDevice, 300000, -1, y, -1));
seque.AddAction(move_act);
GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok);
}
else if (isforward == false && isback)
{
//等待前面完成
int movew = tager[index] - point[index];
for (int i = 0; i < 4; i++)
{
point[i] = point[i] + movew;
if (point[i] < 0)
{
is_ok = false;
return;
}
}
int y = point[0];
var move_act = Sequence.create(SkCallBackFun.create((ActionBase act) => {
for (int i = 0; i < 4; i++)
{
injectorDevice.Injector.Entercloses[i].Selected = true;
}
return(true);
}), MoveTo.create(injectorDevice, 300000, -1, y, -1));
seque.AddAction(move_act);
GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok);
}
}
private bool RunLogic(IList <T_LogicStep> steps, out String msg)
{
msg = null;
var seque_root = Sequence.create();
var seque = Sequence.create();
var resmanager = ResManager.getInstance();
var generater = ActionGenerater.getInstance();
int loop_times = 0;
foreach (var step in steps)
{
switch (step.StepEnum)
{
case LogicStepEnum.Alert:
seque.AddAction(SkCallBackFun.create((ActionBase act_tem) =>
{
ErrorSystem.WriteActError(step.Parameters, true, false, 9999);
return(true);
}));
break;
case LogicStepEnum.InitAll:
var act_init = opDevice.InitAllDevice();
seque.AddAction(act_init);
break;
case LogicStepEnum.Centrifuge:
{
CommonAction action = Convert2T <CommonAction>(step.Parameters);
var cen = cenMrg.GetCentrifugeByCode(action.Code);
if (cen != null)
{
if (action.DoAction == 0) //正常离心程序
{
int hspeed = (int)cen.Centrifugem.HightSpeed.SetValue;
int lspeed = (int)cen.Centrifugem.LowSpeed.SetValue;
int htime = (int)cen.Centrifugem.HightSpeedTime.SetValue;
int ltime = (int)cen.Centrifugem.LowSpeedTime.SetValue;
int uphtime = (int)cen.Centrifugem.AddHSpeedTime.SetValue;
int upltime = (int)cen.Centrifugem.AddLSpeedTime.SetValue;
int stime = (int)cen.Centrifugem.StopSpeedTime.SetValue;
var act = CentrifugeStart.create(cen, 3000000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime);
seque.AddAction(act);
}
else if (action.DoAction == 1) //移动指定卡位
{
var resinfo = ResManager.getInstance().SearchGelCard("T_BJ_Centrifuge", action.Code, "", (int)action.SeatIndex);
var act = MoveTo.create(cen, 30000, -1, -1, resinfo.CenGelP[resinfo.CountX], 5);
seque.AddAction(act);
}
else if (action.DoAction == 2) //开舱门
{
var act = HandOpenCloseDoor.create(handDevice, 3000, action.Code, true);
seque.AddAction(act);
}
else if (action.DoAction == 3) //关舱门
{
var act = HandOpenCloseDoor.create(handDevice, 3000, action.Code, false);
seque.AddAction(act);
}
else if (action.DoAction == 4) //初始化
{
var act = InitXyz.create(cen, 3000, false, false, true);
seque.AddAction(act);
}
}
else
{
ErrorSystem.WriteActError("找不到指定离心机", true, false, 9999);
}
}
break;
case LogicStepEnum.Couveuse:
{
}
break;
case LogicStepEnum.Delay:
{
int DelayTime = Convert.ToInt32(step.Parameters);
seque.AddAction(SKSleep.create(DelayTime));
}
break;
case LogicStepEnum.DetectSquid:
{
DetectAction action = Convert2T <DetectAction>(step.Parameters);
List <Enterclose> iinjects = new List <Enterclose>();
foreach (var entindex in action.Indexs)
{
iinjects.Add(injDevice.Injector.Entercloses[entindex]);
}
seque.AddAction(InjectDetector.create(3000, iinjects.ToArray(), IMask.Gen((int)action.Start), IMask.Gen((int)action.ZLimit), IMask.Gen(0)));
}
break;
case LogicStepEnum.SimpleAction:
{
SimpleAction action = Convert2T <SimpleAction>(step.Parameters);
AbstractCanDevice device = null;
switch (action.Device)
{
case "加样器":
device = injDevice;
break;
case "机械手":
device = handDevice;
break;
case "卡仓":
device = gelwareDevice;
break;
case "破孔器":
device = gelwareDevice;
break;
}
if (action.Action == "移动")
{
ActionBase act_move = null;
int x = action.Direction == "X" ? (int)action.Value : -1;
int y = action.Direction == "Y" ? (int)action.Value : -1;
int z = action.Direction == "Z"? (int)action.Value:-1;
if (action.Direction == "XYZ")
{
x = y = z = (int)action.Value;
}
if (device is InjectorDevice)
{
act_move = InjectMoveTo.create(device, 3000, injDevice.Injector.Entercloses, x, IMask.Gen(y), IMask.Gen(z));
}
else
{
act_move = MoveTo.create(device, 3000, x, y, z);
}
seque.AddAction(act_move);
}
else if (action.Action == "初始化")
{
ActionBase act_move = null;
bool x = action.Direction == "X" ? true : false;
bool y = action.Direction == "Y" ? true : false;
bool z = action.Direction == "Z" ? true : false;
if (action.Direction == "XYZ")
{
x = y = z = true;
}
if (device is InjectorDevice)
{
act_move = InitXyz.create(device, 30000, injDevice.Injector.Entercloses, x, y, z);
}
else
{
act_move = InitXyz.create(device, 30000, x, y, z);
}
seque.AddAction(act_move);
}
}
break;
case LogicStepEnum.TakeAndPutDownGel:
{
GelAction[] actions = Convert2T <GelAction[]>(step.Parameters);
seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
ResInfoData take_seat = null;
if (actions[0].BJType == "T_BJ_GelSeat")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", actions[0].Index, 0, true, actions[0].BJName);
generater.GenerateTakeGelFromNormal(take_seat, ref seque);
}
else if (actions[0].BJType == "T_BJ_Centrifuge")
{
take_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", actions[0].Index, 0, true, actions[0].BJName);
var act = generater.GenerateTakeGelFromCent(take_seat, "", ref seque);
}
else if (actions[0].BJType == "T_BJ_GelWarehouse")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", actions[0].Index, 0, true, actions[0].BJName);
var act = generater.GenerateTakeGelFromWare(take_seat, ref seque);
}
if (actions[1].BJType == "T_BJ_GelSeat")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", actions[1].Index, 0, true, actions[1].BJName);
generater.GeneratePutGelToNormal(put_seat, take_seat, ref seque);
}
else if (actions[1].BJType == "T_BJ_Centrifuge")
{
var put_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", actions[1].Index, 0, true, actions[1].BJName);
generater.GeneratePutGelToCent(put_seat.CenCode, put_seat, take_seat, ref seque);
}
else if (actions[1].BJType == "T_BJ_GelWarehouse")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", actions[1].Index, 0, true, actions[1].BJName);
generater.GeneratePutGelToWare(put_seat, take_seat, ref seque);
}
}
break;
case LogicStepEnum.TakeGel:
{
GelAction action = Convert2T <GelAction>(step.Parameters);
ResInfoData take_seat = null;
if (action.BJType == "T_BJ_GelSeat")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", action.Index, 0, true, action.BJName);
generater.GenerateTakeGelFromNormal(take_seat, ref seque);
}
else if (action.BJType == "T_BJ_Centrifuge")
{
take_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", action.Index, 0, true, action.BJName);
var act = generater.GenerateTakeGelFromCent(take_seat, "", ref seque);
}
else if (action.BJType == "T_BJ_GelWarehouse")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", action.Index, 0, true, action.BJName);
var act = generater.GenerateTakeGelFromWare(take_seat, ref seque);
}
break;
}
case LogicStepEnum.PutDownGel:
{
GelAction action = Convert2T <GelAction>(step.Parameters);
ResInfoData take_seat = resmanager.handseat_resinfo;
if (action.BJType == "T_BJ_GelSeat")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", action.Index, 0, true, action.BJName);
generater.GeneratePutGelToNormal(put_seat, take_seat, ref seque);
}
else if (action.BJType == "T_BJ_Centrifuge")
{
var put_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", action.Index, 0, true, action.BJName);
generater.GeneratePutGelToCent(put_seat.CenCode, put_seat, take_seat, ref seque);
}
else if (action.BJType == "T_BJ_GelWarehouse")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", action.Index, 0, true, action.BJName);
generater.GeneratePutGelToWare(put_seat, take_seat, ref seque);
}
break;
}
case LogicStepEnum.TakeTip:
{
TakeTipAction action = Convert2T <TakeTipAction>(step.Parameters);
var ents = injDevice.Injector.Entercloses.Where(ent => ent.Valid && action.Indexs.Contains(ent.Index)).ToArray();
var tipseat = Constants.BJDict[typeof(T_BJ_Tip).Name].Where(item => item.Name == action.TipBoxName).FirstOrDefault() as T_BJ_Tip;
List <ActionPoint> tip_seat = new List <ActionPoint>();
foreach (var ent in ents)
{
int x = (int)(tipseat.X - action.C * tipseat.GapX);
int y = (int)(tipseat.Y + action.R * tipseat.GapY);
var point = new ActionPoint();
point.x = x;
point.y = y;
point.z = (int)tipseat.Limit;
point.type = TestStepEnum.JXZT;
point.index = ent.Index;
tip_seat.Add(point);
}
var sequ_taketip = Sequence.create();
var move_act = InjectMoveActs.create(injDevice, 3000, tip_seat.ToArray(), false);
sequ_taketip.AddAction(InjectMoveTo.create(injDevice, 3000, ents, -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_taketip.AddAction(move_act);
seque.AddAction(sequ_taketip);
}
break;
case LogicStepEnum.OutTip:
{
TakeTipAction action = Convert2T <TakeTipAction>(step.Parameters);
var ents = injDevice.Injector.Entercloses.Where(ent => ent.Valid && action.Indexs.Contains(ent.Index)).ToArray();
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.JXZT);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveTo.create(injDevice, 3000, ents, -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_puttip.AddAction(InjectMoveActs.create(injDevice, 3000, unload_seat.ToArray(), true));
seque.AddAction(sequ_puttip);
}
}
break;
case LogicStepEnum.Piercer:
{
var paper_seat = resmanager.GetResByCode("", "T_BJ_GelSeat", "", "4");
seque.AddAction(PaperCard.create(pieDevice, 3000, paper_seat, 0));
}
break;
case LogicStepEnum.LoopStart:
{
LogicLoop logicLoop = Convert2T <LogicLoop>(step.Parameters);
loop_times = logicLoop.Count;
seque_root.AddAction(seque);
seque = Sequence.create();
}
break;
case LogicStepEnum.LoopEnd:
{
var act_repat = Repeat.create(seque, loop_times);
seque_root.AddAction(act_repat);
seque = Sequence.create();
loop_times = 0;
}
break;
}
}
seque_root.AddAction(seque);
seque_root.runAction(opDevice);
return(true);
}
