//生成加样移动组合
public void GenerateInjectActGroup(ref Sequence seque, ref int index, ref ActionPoint[] tager, ref int[] point, ref int[] width, ref bool is_ok, ActionBase move_x = null, Spawn move_zt = null)
{
if (index == 4)
{
is_ok = true;
return;
}
else if (tager[index].y == point[index] || tager[index].y == -1)
{
if (tager[index].y == point[index])
{
var action_point = tager[index];
var move_act = Sequence.create();
List <Enterclose> ents = new List <Enterclose>();
int[] injz = IMask.Gen(-1);
int[] injzl = IMask.Gen(-1);
int[] injzd = IMask.Gen(-1);
ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[index]);
move_act.AddAction(SkWaitForAction.create(move_x));
if (action_point.type == TestStepEnum.JXZT)
{
int[] absorbs = IMask.Gen(-1);
var injact_sp = Spawn.create();
injz[index] = action_point.z;
absorbs[index] = (int)ents[0].PumpMotor.Maximum.SetValue;
injact_sp.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2));
injact_sp.AddAction(InjectAbsorbMove.create(3001, ents.ToArray(), 100, absorbs));
move_act.AddAction(injact_sp);
injz[index] = action_point.zb;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
}
else if (action_point.type == TestStepEnum.PutTip)
{
injz[index] = action_point.z;
var sequ = Sequence.create();
sequ.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2));
sequ.AddAction(MoveTo.create(3001, action_point.puttip_x, -1, -1));
injz[index] = action_point.z - 1000;
sequ.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 100));
injz[index] = action_point.zb;
sequ.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
move_act.AddAction(sequ);
}
else if (action_point.type == TestStepEnum.AbsLiquid)
{
int[] absorbs = IMask.Gen(-1);
absorbs[index] = -(action_point.capacity);
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 0));
injz[index] = action_point.z + action_point.deep;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, action_point.deepspeed));
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.absbspeed, absorbs));
//回吸
var back_act = Spawn.create();
if (action_point.backcapacity != 0)
{
absorbs[index] = -(action_point.backcapacity);
back_act.AddAction(Sequence.create(SKSleep.create(500), InjectAbsorb.create(3001, ents.ToArray(), action_point.backspeed, absorbs)));
}
injz[index] = action_point.zb;
back_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
move_act.AddAction(back_act);
}
else if (action_point.type == TestStepEnum.FollowAbsLiquid)
{
int[] absorbs = IMask.Gen(-1);
injz[index] = action_point.z;
injzl[index] = action_point.z + action_point.detectordeep;
injzd[index] = action_point.deep;
absorbs[index] = -(action_point.capacity);
move_act.AddAction(InjectDetector.create(3001, ents.ToArray(), injz, injzl, injzd, 2, 1));
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.absbspeed, absorbs));
//回吸
var back_act = Spawn.create();
if (action_point.backcapacity != 0)
{
absorbs[index] = -(action_point.backcapacity);
back_act.AddAction(Sequence.create(SKSleep.create(500), InjectAbsorb.create(3001, ents.ToArray(), action_point.backspeed, absorbs)));
}
injz[index] = action_point.zb;
back_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
move_act.AddAction(back_act);
}
else if (action_point.type == TestStepEnum.SpuLiquid)
{
int[] absorbs = IMask.Gen(-1);
injz[index] = action_point.z;
absorbs[index] = action_point.spucapacity + action_point.backcapacity;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2));
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.spuspeed, absorbs));
//回吸
var back_act = Spawn.create();
if (action_point.backcapacity != 0)
{
absorbs[index] = -(action_point.backcapacity);
back_act.AddAction(Sequence.create(SKSleep.create(100), InjectAbsorb.create(3001, ents.ToArray(), action_point.backcapacity, absorbs)));
}
injz[index] = action_point.zb;
back_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
move_act.AddAction(back_act);
}
else if (action_point.type == TestStepEnum.MixLiquid)
{
int[] absorbs = IMask.Gen(-1);
injz[index] = action_point.z;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2));
absorbs[index] = action_point.capacity;
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), 100, absorbs));//把稀释液放进去
//混合操作
if (action_point.mixtimes != 0)
{
for (int i = 0; i < action_point.mixtimes * 2; i++)
{
int mixz = action_point.z - action_point.mixdeep;//混合高度
if (mixz <= 0)
{
mixz = action_point.z;
}
absorbs[index] = i % 2 == 0 ? -action_point.capacity : action_point.capacity;
injz[index] = i % 2 == 0 ? action_point.z: mixz;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2));
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), 100, absorbs));
}
injz[index] = action_point.z;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2));
absorbs[index] = (int)ents[0].PumpMotor.Maximum.SetValue;
move_act.AddAction(InjectAbsorbMove.create(3001, ents.ToArray(), 100, absorbs));
absorbs[index] = -(action_point.GetTubeList().Count *action_point.spucapacity);
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), 100, absorbs));
}
//回吸
if (action_point.backcapacity != 0)
{
injz[index] = action_point.z;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
absorbs[index] = -(action_point.backcapacity);
move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.backspeed, absorbs));
}
injz[index] = action_point.zb;
move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz));
}
//查找前面的
if (move_zt != null)
{
move_zt.AddAction(move_act);
}
else
{
seque.AddAction(move_act);
}
}
index++;
GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok, move_x, move_zt);
}
else
{
List <int[]> node_list = new List <int[]>();
for (int i = 0; i < 4; i++)
{
for (int j = i; j < 4; j++)
{
for (int k = j; k < 4; k++)
{
for (int l = k; l < 4; l++)
{
int[] point_tem = { 0, 0, 0, 0 };
point_tem[i] = tager[i].y;
point_tem[j] = tager[j].y;
point_tem[k] = tager[k].y;
point_tem[l] = tager[l].y;
for (int n = 0; n < 4; n++)
{
if (point_tem[n] < 0)
{
point_tem[n] = 0;
}
}
bool ispass = true;
int frist = 0;
for (int n = 0; n < 4; n++)
{
if (point_tem[n] != 0)
{
frist = n;
break;
}
}
for (int n = frist; n < 4; n++)
{
if (point_tem[n] == 0 && n - 1 >= 0)
{
point_tem[n] = point_tem[n - 1] + width[n];
}
}
for (int n = 0; n < frist; n++)
{
if (point_tem[n] == 0 && n + 1 <= 3)
{
point_tem[n] = point_tem[frist] - width[n] * (frist - n);
}
}
for (int n = 0; n < 4; n++)
{
bool isforward = n - 1 >= 0 ? point_tem[n] >= point_tem[n - 1] + width[n - 1] : true;
bool isback = n + 1 <= 3 ? point_tem[n] + width[n] <= point_tem[n + 1] : true;
ispass = isforward && isforward;
if (!ispass)
{
break;
}
}
if (ispass && point_tem[index] == tager[index].y)
{
node_list.Add(point_tem);
}
}
}
}
}
int[] minnode = node_list[0];
foreach (var node in node_list)
{
if (GetLoss(tager, node) < GetLoss(tager, minnode))
{
minnode = node;
}
}
List <int> left = new List <int>();
List <int> right = new List <int>();
for (int i = 0; i < 4; i++)
{
if (point[i] - minnode[i] < 0)
{
left.Add(i);
}
else
{
right.Add(i);
}
}
left.Sort((a, b) => { return(a < b ? 1 : -1); });
right.Sort((a, b) => { return(a > b ? 1 : -1); });
var movesp_act = Spawn.create();
var move_act = Sequence.create();
string msg = "";
int[] yy = { -1, -1, -1, -1 };
int[] zz = { -1, -1, -1, -1 };
List <Enterclose> ents = new List <Enterclose>();
for (int i = 0; i < left.Count; i++)
{
int indextem = left[i];
if (point[indextem] != minnode[indextem])
{
ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[indextem]);
yy[indextem] = minnode[indextem];
}
}
movesp_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, yy, zz));
ents.Clear();
for (int i = 0; i < right.Count; i++)
{
int indextem = right[i];
if (point[indextem] != minnode[indextem])
{
ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[indextem]);
yy[indextem] = minnode[indextem];
}
}
movesp_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, yy, zz));
for (int i = 0; i < 4; i++)
{
point[i] = minnode[i];
}
move_act.AddAction(movesp_act);
//同步Z动作
var spawz_action = Spawn.create();
move_act.AddAction(spawz_action);
seque.AddAction(move_act);
GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok, move_x, spawz_action);
}
}