//是否在离心机内的所有卡当前动作是离心
public bool IsCanPutCen(CentrifugeMDevice cendev)
{
if (actionmanager.getAllActionsCount(cendev) != 0)
{
return(false);
}
foreach (var seat in resmanager.centrifuge_list)
{
if (seat.Code == cendev.Centrifugem.Code.SetValue)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (resinfo.GetActionAt(0) != ActionPoint.ActionPointType.Centrifugal)
{
return(false);
}
}
}
break;
}
}
return(true);
}
//垃圾箱逻辑
public bool RubbishLogic(double dt)
{
if (actionmanager.getAllActionsCount(handDevice) != 0)
{
return(false);
}
//普通卡位
ResInfoData camer_gel = null;
if (resmanager.handseat_resinfo != null && resmanager.handseat_resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Rubbish)
{
camer_gel = resmanager.handseat_resinfo;
camer_gel.Purpose = "hand";
}
if (camer_gel == null)
{
foreach (var seat in resmanager.gelseat_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Rubbish)
{
camer_gel = resinfo;
}
break;
}
}
if (camer_gel != null)
{
break;
}
}
}
//检测离心机只的卡
if (camer_gel == null)
{
foreach (var seat in resmanager.centrifuge_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (seat.Status == 1 && resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Rubbish)
{
resinfo.Purpose = "lxj";
resinfo.CenCode = seat.Code;
camer_gel = resinfo;
break;
}
}
}
if (camer_gel != null)
{
break;
}
}
}
//把卡转到垃圾位
if (camer_gel != null && camer_gel.GetActionAt(0) == ActionPoint.ActionPointType.Rubbish)
{
var seque = Sequence.create();
bool is_put = false;
var put_seat = resmanager.GetResByCode("", "T_BJ_WastedSeat");
if (put_seat != null)
{
ResInfoData put_gel = null;
if (camer_gel.Purpose == "lxj")
{
put_gel = generater.GenerateTakeGelFromCent(camer_gel, camer_gel.CenCode, ref seque);
}
else if (camer_gel.Purpose == "hand")
{
put_gel = camer_gel;
}
else
{
put_gel = generater.GenerateTakeGelFromNormal(camer_gel, ref seque);
}
seque.AddAction(MoveTo.create(handDevice, 3000, (int)put_seat.X, (int)(put_seat.Y)));
seque.AddAction(HandPutCard.create(handDevice, 3000, (int)put_seat.ZPut, 0));
seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
seque.AddAction(SkCallBackFun.create((ActionBase acttem) =>
{
if (camer_gel.Purpose == "hand")
{
resmanager.handseat_resinfo = null;
}
put_gel.RemoveActionAt(0);
return(true);
}));
is_put = true;
}
if (is_put)
{
seque.runAction(handDevice);
return(true);
}
}
return(false);
}
//放卡到离心逻辑
public bool CenPutLogic(CentrifugeMDevice cendev)
{
if (resmanager.handseat_resinfo != null ||
actionmanager.getAllActionsCount(piercerDevice) != 0 ||
actionmanager.getAllActionsCount(handDevice) != 0 ||
actionmanager.getAllActionsCount(cendev) != 0)
{
return(false);
}
bool isallcen = true;//是否在离心机内的所有卡当前动作是离心
foreach (var seat in resmanager.centrifuge_list)
{
if (seat.Code == cendev.Centrifugem.Code.SetValue)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
isallcen = resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal;
if (isallcen == false)
{
break;
}
}
}
break;
}
}
//普通卡位
List <ResInfoData> resinfo_list = new List <ResInfoData>();
foreach (var seat in resmanager.gelseat_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal)
{
resinfo_list.Add(resinfo);
}
}
}
}
//把卡转到离心位
if (resinfo_list.Count != 0)
{
var seque = Sequence.create();
bool is_put = false;
seque.AddAction(InitXyz.create(cendev, 30000, false, false, true));
foreach (var resinfo in resinfo_list)
{
var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue);
if (isallcen == false)
{
put_seat = null;
}
if (put_seat == null && resinfo.Purpose != "3")
{
put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
}
if (put_seat != null)
{
var put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque);
if (put_seat.Purpose == "lxj")
{
generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque);
}
else
{
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
}
is_put = true;
}
}
if (is_put)
{
seque.runAction(handDevice);
return(true);
}
}
return(false);
}
//孵育逻辑(孵育位计数不在孵育位就添加抓卡)
public bool HatchLogic(double dt)
{
//普通卡位
List <ResInfoData> resinfo_list = new List <ResInfoData>();
foreach (var seat in resmanager.gelseat_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (seat.Purpose != 1)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Hatch)
{
resinfo_list.Add(resinfo);
}
}
else if (seat.Purpose == 1)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Hatch)
{
resinfo.HatchCurTime += dt;
if (resinfo.HatchCurTime >= resinfo.HatchTime)
{
resinfo.RemoveActionAt(0);
}
}
}
}
}
}
//检测离心机只的卡
foreach (var seat in resmanager.centrifuge_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (seat.Status == 1 && resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Hatch)
{
resinfo.Purpose = "lxj";
resinfo.CenCode = seat.Code;
resinfo_list.Add(resinfo);
}
}
}
}
if (actionmanager.getAllActionsCount(piercerDevice) != 0 || actionmanager.getAllActionsCount(handDevice) != 0 || resmanager.handseat_resinfo != null)
{
return(false);
}
//把卡转到孵育位
if (resinfo_list.Count != 0)
{
var seque = Sequence.create();
bool is_put = false;
foreach (var resinfo in resinfo_list)
{
var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "1");
if (put_seat == null && resinfo.Purpose != "3")
{
put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
}
if (put_seat != null)
{
ResInfoData put_gel = null;
if (resinfo.Purpose == "lxj")
{
put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque);
}
else
{
put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque);
}
put_gel.HatchCurTime = 0;
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
is_put = true;
}
}
if (is_put)
{
seque.AddAction(MoveTo.create(handDevice, 3000, 0, -1, -1));
seque.runAction(handDevice);
return(true);
}
}
return(false);
}
//离心开始逻辑
public bool CenRunLogic(CentrifugeMDevice cendev)
{
if (actionmanager.getAllActionsCount(handDevice) != 0 || actionmanager.getAllActionsCount(cendev) != 0)
{
return(false);
}
bool is_allcenact = true; //是否全是离心动作
bool is_allputok = true; //是否全是已放好
bool is_empty = true; //是否为空
bool is_gelfull = false; //是否已满
bool is_gelsoon = false; //是否有卡快要离心
int gel_count = 0;
List <ResInfoData> resinfo_list = new List <ResInfoData>();
foreach (var seat in resmanager.centrifuge_list)
{
if (seat.Code == cendev.Centrifugem.Code.SetValue)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
is_empty = false;
is_allcenact = is_allcenact && resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal;
is_allputok = is_allputok && resinfo.PutOk;
resinfo_list.Add(resinfo);
gel_count++;
}
}
is_gelfull = gel_count >= seat.Values.Length;
}
}
//普通卡位是否有卡快要离心
foreach (var seat in resmanager.gelseat_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
is_gelsoon = (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal) ||
(resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Hatch &&
resinfo.GetActionAt(1) == ActionPoint.ActionPointType.Centrifugal &&
resinfo.HatchTime - resinfo.HatchCurTime <= 10);
if (is_gelsoon)
{
break;
}
}
}
if (is_gelsoon)
{
break;
}
}
//检测是否满足运行条件
if (is_allcenact && is_allputok && !is_empty && (!is_gelsoon || is_gelfull))
{
int hspeed = (int)cendev.Centrifugem.HightSpeed.SetValue;
int lspeed = (int)cendev.Centrifugem.LowSpeed.SetValue;
int htime = (int)cendev.Centrifugem.HightSpeedTime.SetValue;
int ltime = (int)cendev.Centrifugem.LowSpeedTime.SetValue;
int uphtime = (int)cendev.Centrifugem.AddHSpeedTime.SetValue;
int upltime = (int)cendev.Centrifugem.AddLSpeedTime.SetValue;
int stime = (int)cendev.Centrifugem.StopSpeedTime.SetValue;
var act = Sequence.create(CentrifugeStart.create(cendev, 300000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime), SkCallBackFun.create((ActionBase acttem) =>
{
foreach (var resinfo in resinfo_list)
{
if (resinfo.InjectFinish)
{
resinfo.RemoveActionAt(0);
}
}
return(true);
}));
act.runAction(cendev);
return(true);
}
return(false);
}
//离心开始逻辑
public bool CenRunLogic(CentrifugeMDevice cendev)
{
bool is_allcenact = true; //是否全是离心动作
bool is_allputok = true; //是否全是已放好
bool is_empty = true; //是否为空
bool is_gelfull = false; //是否已满
bool is_gelsoon = false; //是否有卡快要离心
int gel_count = 0;
List <ResInfoData> resinfo_list = new List <ResInfoData>();
foreach (var seat in resmanager.centrifuge_list)
{
if (seat.Code == cendev.Centrifugem.Code.SetValue)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
is_empty = false;
is_allcenact = is_allcenact && resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal;
is_allputok = is_allputok && resinfo.PutOk;
resinfo_list.Add(resinfo);
gel_count++;
}
}
is_gelfull = gel_count >= seat.Values.Length;
}
}
if ((is_gelfull == false && actionmanager.getAllActionsCount(handDevice) != 0) || actionmanager.getAllActionsCount(cendev) != 0)
{
return(false);
}
//普通卡位是否有卡快要离心
foreach (var seat in resmanager.gelseat_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
is_gelsoon = (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal) ||
(resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Hatch &&
resinfo.GetActionAt(1) == ActionPoint.ActionPointType.Centrifugal &&
resinfo.HatchTime - resinfo.HatchCurTime <= 20000);
if (seat.Purpose == 4 && resinfo.FindAct(ActionPoint.ActionPointType.Centrifugal) && resinfo.FindAct(ActionPoint.ActionPointType.Hatch) == false)
{
is_gelsoon = true;
}
if (is_gelsoon)
{
break;
}
}
}
if (is_gelsoon)
{
break;
}
}
//检测是否满足运行条件
if (is_allcenact && is_allputok && !is_empty && (!is_gelsoon || is_gelfull))
{
int hspeed = (int)cendev.Centrifugem.HightSpeed.SetValue;
int lspeed = (int)cendev.Centrifugem.LowSpeed.SetValue;
int htime = (int)cendev.Centrifugem.HightSpeedTime.SetValue;
int ltime = (int)cendev.Centrifugem.LowSpeedTime.SetValue;
int uphtime = (int)cendev.Centrifugem.AddHSpeedTime.SetValue;
int upltime = (int)cendev.Centrifugem.AddLSpeedTime.SetValue;
int stime = (int)cendev.Centrifugem.StopSpeedTime.SetValue;
//配平卡动作(如果离心机内卡是单数就再放一张配平卡)
var seque_pei = Sequence.create();
var seque = Sequence.create();
if (resinfo_list.Count() % 2 != 0)
{
var spaw = Spawn.create();
var put_seque = Sequence.create();
//得到配平卡
var pei_gel = resmanager.GetResByCode("pei" + cendev.Centrifugem.Code.SetValue, "T_BJ_GelSeat");
var put_gel = generater.GenerateTakeGelFromNormal(pei_gel, ref put_seque);
put_gel.ActionList.Add(ActionPointType.Centrifugal);
put_gel.ActionList.Add(ActionPointType.PutPeiGelBack);
put_gel.InjectFinish = true;
resinfo_list.Add(put_gel);
var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue);
spaw.AddAction(put_seque);
spaw.AddAction(MoveTo.create(cendev, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX]));
seque_pei.AddAction(spaw);
generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque_pei);
}
seque_pei.AddAction(HandOpenCloseDoor.create(handDevice, 5000, cendev.Centrifugem.Code.SetValue, false));
seque.AddAction(SkWaitForAction.create(handDevice, seque_pei));
seque.AddAction(CentrifugeStart.create(cendev, 300000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime));
seque.AddAction(SkCallBackFun.create((ActionBase acttem) =>
{
foreach (var resinfo in resinfo_list)
{
if (resinfo.InjectFinish)
{
resinfo.RemoveActionAt(0);
}
}
return(true);
}));
seque_pei.runAction(handDevice);
seque.runAction(cendev);
return(true);
}
return(false);
}
public void Logic(ResInfoData resinfo, double dt)
{
switch (resinfo.GetActionAt(0))
{
case ActionPointType.Hatch:
{
if (resinfo.Purpose == "1")
{
resinfo.HatchCurTime += dt;
if (resinfo.HatchCurTime >= resinfo.HatchTime)
{
resinfo.RemoveActionAt(0);
}
}
else if (!(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
{
var seque = Sequence.create();
var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "1");
if (put_seat == null && resinfo.Purpose != "3")
{
put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
}
if (put_seat != null)
{
ResInfoData put_gel = null;
if (resinfo.Purpose == "lxj")
{
//CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(resinfo.CenCode);
//seque.AddAction(MoveTo.create(cendev, 30000, -1, -1, 0));
//seque.AddAction(InitXyz.create(cendev, 30000, false, false, true));
put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque);
}
else
{
put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque);
}
put_gel.HatchCurTime = 0;
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
seque.runAction(handDevice);
}
}
}
break;
case ActionPointType.Centrifugal:
{
if (resinfo.Purpose != "lxj" && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
{
foreach (var seat in resmanager.centrifuge_list)
{
CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(seat.Code);
if (seat.Status == 1 && cendev != null)
{
bool iscanputcen = IsCanPutCen(cendev);
var seque = Sequence.create();
var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue);
if (iscanputcen == false)
{
put_seat = null;
}
if (put_seat == null && resinfo.Purpose != "3")
{
put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
}
if (put_seat != null)
{
var spaw = Spawn.create();
var put_seque = Sequence.create();
var put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref put_seque);
spaw.AddAction(put_seque);
seque.AddAction(spaw);
if (put_seat.Purpose == "lxj")
{
spaw.AddAction(MoveTo.create(cendev, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX]));
generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque);
}
else
{
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
}
seque.runAction(handDevice);
break;
}
}
}
}
}
break;
case ActionPointType.PutPeiGelBack:
{
var seque = Sequence.create();
var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "2");
if (put_seat != null && resinfo.Purpose == "lxj")
{
//CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(resinfo.CenCode);
//seque.AddAction(MoveTo.create(cendev, 30000, -1, -1, 0));
//seque.AddAction(InitXyz.create(cendev, 30000, false, false, true));
var put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque);
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
seque.AddAction(SkCallBackFun.create((ActionBase acttem) => {
resinfo.RemoveActionAt(0);
return(true);
}));
seque.runAction(handDevice);
}
}
break;
case ActionPointType.Camera:
{
var seque = Sequence.create();
var put_seat = resmanager.GetResByCode("", "T_BJ_Camera");
var wasted_seat = resmanager.GetResByCode("", "T_BJ_WastedSeat");
if (put_seat != null && wasted_seat != null && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
{
ResInfoData put_gel = null;
if (resinfo.Purpose == "lxj")
{
//CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(resinfo.CenCode);
//seque.AddAction(MoveTo.create(cendev, 30000, -1, -1, 0));
//seque.AddAction(InitXyz.create(cendev, 30000, false, false, true));
put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque);
}
else
{
put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque);
}
seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
seque.AddAction(MoveTo.create(handDevice, 3000, (int)put_seat.X, (int)(put_seat.Y), -1));
seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, (int)(put_seat.Z)));
//拍照分析
seque.AddAction(SkCallBackFun.create((ActionBase acttem) =>
{
bool result = true;
if (cameraDevice.IsOpen == false)
{
result = cameraDevice.Open();
}
var bm = cameraDevice.CaptureImage();
var bag = new TestBag(Common.Enums.TestLevelEnum.Normal);
var gel = new Gel(resinfo.GetGelMask());
bag.GelType = resinfo.gel;
bag.Add(resinfo.GetSampleBarcode(), (byte)resinfo.GetSampleRackIndex(), (byte)resinfo.CountX);
bag.SetStartTime(resinfo.StartTime);
gel.SampleBarcodes.Add(resinfo.GetSampleBarcode());
cameraDevice.Save(bag, gel, bm, "888");
//cameraDevice.Close();
put_gel.RemoveActionAt(0);
return(true);
}));
seque.AddAction(MoveTo.create(handDevice, 3000, (int)wasted_seat.X, (int)(wasted_seat.Y)));
seque.AddAction(HandPutCard.create(handDevice, 3000, (int)wasted_seat.ZPut, 0));
seque.runAction(handDevice);
}
}
break;
}
}