Example #1
0
        /// <summary>
        /// 关舱门
        /// </summary>
        public void CloseDoor()
        {
            if (SelectedItem == null)
            {
                return;
            }
            var act = HandOpenCloseDoor.create(handDevice, 3000, SelectedItem.Code, false);

            act.runAction(handDevice);
        }
Example #2
0
        //生成离心机放卡动作
        public bool GeneratePutGelToCent(string cen_code, ResInfoData put_seat, ResInfoData put_gel, ref Sequence seque)
        {
            var centrifuge = Engine.getInstance().cenMrg.GetCentrifugeByCode(cen_code);

            if (centrifuge == null)
            {
                centrifuge = Engine.getInstance().cenMrg.GetFreeCentrifuge();
            }
            if (put_seat != null)
            {
                //打开离心机门
                var opendoor_act = HandOpenCloseDoor.create(Engine.getInstance().handDevice, 5000, cen_code, true);
                seque.AddAction(opendoor_act);
                //离心机位移动
                //抓手移动到离心机位
                var move_act = Spawn.create(
                    MoveTo.create(centrifuge, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX]),
                    MoveTo.create(Engine.getInstance().handDevice, 3001, (int)put_seat.X, (int)put_seat.CenHandYP[put_seat.CountX]));
                seque.AddAction(move_act);
                //抓手放卡
                var put_act = HandPutCard.create(Engine.getInstance().handDevice, 3001, (int)put_seat.ZPut);
                seque.AddAction(put_act);
                //把测试卡放在离心Gel位中
                put_seat.Values[put_seat.CountX, 0] = put_gel;
                if (put_gel != null)
                {
                    put_gel.PutOk = false;
                }
                put_act.successfun = (ActionBase act) =>
                {
                    if (put_gel != null)
                    {
                        put_gel.PutOk = true;
                        put_gel.SetSeatInfo(put_seat);
                    }
                    ResManager.getInstance().handseat_resinfo = null;
                    return(true);
                };
                put_act.destroyfun = (ActionBase act) =>
                {
                    put_seat.Values[put_seat.CountX, 0] = null;
                    ResManager.getInstance().handseat_resinfo = null;
                    return(true);
                };
            }
            else
            {
                ErrorSystem.WriteActError("离心机位已满", true, false);
            }
            return(put_seat != null);
        }
Example #3
0
        //生成离心机抓卡动作
        public ResInfoData GenerateTakeGelFromCent(ResInfoData take_seat, string cen_code, ref Sequence seque)
        {
            var centrifuge = Engine.getInstance().cenMrg.GetCentrifugeByCode(cen_code);

            if (centrifuge == null)
            {
                centrifuge = Engine.getInstance().cenMrg.GetFreeCentrifuge();
            }
            if (take_seat != null)
            {
                //打开离心机门
                var opendoor_act = HandOpenCloseDoor.create(Engine.getInstance().handDevice, 5000, cen_code, true);
                seque.AddAction(opendoor_act);
                //离心机位移动
                //抓手移动到离心机位
                var move_act = Spawn.create(
                    MoveTo.create(centrifuge, 30001, -1, -1, (int)take_seat.CenGelP[take_seat.CountX]),
                    MoveTo.create(Engine.getInstance().handDevice, 3001, (int)take_seat.X, (int)take_seat.CenHandYP[take_seat.CountX]));
                seque.AddAction(move_act);
                //抓手抓卡
                var take_act = HandTakeCard.create(Engine.getInstance().handDevice, 3001, (int)take_seat.Z, (int)take_seat.ZLimit, (int)take_seat.ZCatch, 0, centrifuge);
                seque.AddAction(take_act);
                //把测试卡放在离心Gel位中
                var geltem = take_seat.Values[take_seat.CountX, 0];
                take_seat.Values[take_seat.CountX, 0] = null;
                take_act.successfun = (ActionBase act) =>
                {
                    ResManager.getInstance().handseat_resinfo = (ResInfoData)geltem;
                    return(true);
                };
                take_act.destroyfun = (ActionBase act) =>
                {
                    take_seat.Values[take_seat.CountX, 0] = geltem;
                    return(true);
                };
            }
            else
            {
                ErrorSystem.WriteActError("离心机位找不到卡", true, false);
            }
            return(take_seat);
        }
        public void ActLogic(List <T_GelStep> act_group, List <T_GelStep> act_group_next, double dt)
        {
            if (act_group != null && act_group.Count != 0 && act_group[0].State == 0)
            {
                int next_state    = 2;
                var seque_act     = Sequence.create();
                var exper_package = ((ExperimentPackage)act_group[0].ExperPackage);
                seque_act.exp_pack = exper_package;
                AbstractCanDevice device = null;
                foreach (var act in act_group)
                {
                    resmanager.tip_count += act.InjectCount;
                }
                if (act_group[0].InjectCount != 0)
                {
                    var act_next = act_group_next == null ? null : act_group_next[0];
                    device = injectorDevice;
                    act_group.Sort((a, b) => { return(((ExperimentPackage)a.ExperPackage).piercer_index > ((ExperimentPackage)b.ExperPackage).piercer_index ? 1 : -1); });
                    seque_act = generater.GenerateAction(act_group);
                    if (act_next != null && act_next.InjectCount == 0)
                    {
                        seque_act.AddAction(SkCallBackFun.create((ActionBase act_tem) =>
                        {
                            inj_wait_time = 9999;
                            return(true);
                        }));
                    }
                }
                else
                {
                    var act      = act_group[0];
                    var act_next = act_group_next == null ? null : act_group_next[0];
                    var resinfo  = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat");
                    if (resinfo == null)
                    {
                        resinfo = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_Centrifuge");
                    }
                    if ((resinfo == null || !resinfo.PutOk) && act.StepClass != TestStepEnum.LoadGel)
                    {
                        return;
                    }
                    switch (act.StepClass)
                    {
                    case TestStepEnum.LoadGel:
                    {
                        if (actionmanager.getAllActionsCount(handDevice) == 0)
                        {
                            var take_seat  = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat", "", "3");
                            var paper_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4", null, exper_package.is_crossmatching);
                            if (paper_seat != null)
                            {
                                device = handDevice;
                                if (take_seat != null)
                                {
                                    generater.GenerateTakeGelFromNormal(take_seat, ref seque_act);
                                }
                                else
                                {
                                    seque_act.AddAction(HandTakeGelFromWare.create(handDevice, 3001, gelwareDevice, exper_package.gel_mask_id, exper_package.GetGelMask(), exper_package.GetSampleCode(act.SampleIndex)));
                                }
                                seque_act.AddAction(HandPutGelToNormal.create(handDevice, 3001, gelwareDevice, paper_seat));
                                if (act_next != null && act_next.StepClass != TestStepEnum.LoadGel)
                                {
                                    seque_act.AddAction(SkCallBackFun.create((ActionBase act_tem) => {
                                            hand_wait_time = 999999;
                                            var ware_act   = MoveTo.create(gelwareDevice, 3000, 0);
                                            ware_act.runAction(gelwareDevice);
                                            return(true);
                                        }));
                                }
                                exper_package.piercer_index             = paper_seat.CountX;
                                paper_seat.Values[paper_seat.CountX, 0] = new ResInfoData();
                                seque_act.destroyfun = (ActionBase act_tem) =>
                                {
                                    paper_seat.Values[paper_seat.CountX, 0] = null;
                                    return(true);
                                };
                                next_state = 2;
                            }
                            else
                            {
                                next_state = 0;
                            }
                        }
                        else
                        {
                            next_state = 0;
                        }
                    }
                    break;

                    case TestStepEnum.KaiKongGel:
                    {
                        int handrx      = 0;
                        int injrx       = 0;
                        var device_hand = new ActionDevice(handDevice);
                        var device_inj  = new ActionDevice(injectorDevice);
                        next_state = 0;
                        if (resinfo.Purpose != "4")
                        {
                            var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4");
                            if (put_seat == null && resinfo.Purpose != "3")
                            {
                                put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
                            }
                            if (put_seat != null)
                            {
                                device = handDevice;
                                ResInfoData put_gel = null;
                                if (resinfo.Purpose == "lxj")
                                {
                                    put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act);
                                }
                                else
                                {
                                    put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act);
                                }
                                generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act);
                                next_state = 0;
                            }
                        }
                        else
                        {
                            bool is_next_kaikong = act_next != null ? act_next.StepClass == TestStepEnum.KaiKongGel : false;
                            var  paper_seat      = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat", "", "4");
                            int  yb = is_next_kaikong ? -1 : 0;
                            if (paper_seat != null &&
                                device_hand.GetRealX(ref handrx) &&
                                (handrx + 1000) < paper_seat.X && ActionDevice.hand_tx < paper_seat.X &&
                                device_inj.GetRealX(ref injrx) &&
                                (injrx + 1000) < paper_seat.InjectorX && ActionDevice.inj_tx < paper_seat.InjectorX + 1000)
                            {
                                device = piercerDevice;
                                seque_act.AddAction(PaperCard.create(piercerDevice, 3000, paper_seat, yb));
                                seque_act.AddAction(SkCallBackFun.create((ActionBase acttem) =>
                                    {
                                        exper_package.is_open = true;
                                        resmanager.gel_count++;
                                        return(true);
                                    }));
                                next_state = 2;
                            }
                        }
                    }
                    break;

                    case TestStepEnum.JYJS:
                    {
                        exper_package.is_jyjs = true;
                        next_state            = 2;
                    }
                    break;

                    case TestStepEnum.ZKDFY:
                    {
                        next_state = 0;
                        if (resinfo.Purpose == "1")
                        {
                            next_state = 0;
                            exper_package.hatch_cur_time += dt;
                            if (exper_package.hatch_cur_time >= exper_package.hatch_time)
                            {
                                next_state = 2;
                            }
                        }
                        else if (!(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
                        {
                            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)
                            {
                                device = handDevice;
                                ResInfoData put_gel = null;
                                if (resinfo.Purpose == "lxj")
                                {
                                    put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act);
                                }
                                else
                                {
                                    put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act);
                                }
                                exper_package.hatch_cur_time = 0;
                                generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act);
                                next_state = 0;
                            }
                            else
                            {
                                next_state = 0;
                            }
                        }
                    }
                    break;

                    case TestStepEnum.ZKDLXJ:
                    {
                        if (actionmanager.getAllActionsCount(handDevice) == 0)
                        {
                            next_state = 0;
                            if (resinfo.Purpose != "lxj" && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
                            {
                                //查看可用离心机
                                var centrifuge_list = resmanager.centrifuge_list.Where(item => item.Status == 1).ToList();
                                centrifuge_list.Sort((a, b) => { return(a.LastUseTime < b.LastUseTime ? 1 : -1); });
                                foreach (var seat in centrifuge_list)
                                {
                                    CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(seat.Code);
                                    if (seat.Status == 1 && cendev != null)
                                    {
                                        device = handDevice;
                                        bool is_last_cent = seat == centrifuge_list[centrifuge_list.Count - 1];
                                        bool iscanputcen  = IsCanPutCen(cendev);
                                        var  put_seat     = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue);
                                        if (iscanputcen == false)
                                        {
                                            put_seat = null;
                                        }
                                        //放进待定位
                                        if (put_seat == null && resinfo.Purpose != "3" && is_last_cent)
                                        {
                                            put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
                                        }
                                        if (put_seat != null)
                                        {
                                            var spaw      = Spawn.create();
                                            var put_seque = Sequence.create();
                                            if (put_seat.Purpose == "lxj")
                                            {
                                                //打开离心机门
                                                var opendoor_act = HandOpenCloseDoor.create(handDevice, 5000, cendev.Centrifugem.Code.SetValue, true);
                                                put_seque.AddAction(opendoor_act);
                                            }
                                            var put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref put_seque);
                                            spaw.AddAction(put_seque);
                                            seque_act.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_act);
                                            }
                                            else
                                            {
                                                generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act);
                                            }
                                            seat.LastUseTime = Engine.getInstance().getSystemMs();
                                            break;
                                        }
                                        else
                                        {
                                            next_state = 0;
                                        }
                                    }
                                }
                            }
                        }
                        else
                        {
                            next_state = 0;
                        }
                    }
                    break;

                    case TestStepEnum.PutPeiGelBack:
                    {
                        var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "2");
                        if (put_seat != null && resinfo.Purpose == "lxj")
                        {
                            device = handDevice;
                            var put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act);
                            generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act);
                            next_state = 2;
                        }
                    }
                    break;

                    case TestStepEnum.XJPD:
                    {
                        var put_seat     = resmanager.GetResByCode("", "T_BJ_Camera");               //相机位
                        var wasted_seat  = resmanager.GetResByCode("", "T_BJ_WastedSeat", "", "1");  //垃圾位
                        var daiding_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3"); //待定位
                        if (put_seat != null && wasted_seat != null && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
                        {
                            device = handDevice;
                            ResInfoData put_gel = null;
                            if (resinfo.Purpose == "lxj")
                            {
                                put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act);
                            }
                            else
                            {
                                put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act);
                            }

                            seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
                            seque_act.AddAction(MoveTo.create(handDevice, 3000, (int)put_seat.X, (int)(put_seat.Y), -1));
                            seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, (int)(put_seat.Z)));
                            //拍照分析
                            seque_act.AddAction(SkCallBackFun.create((ActionBase acttem) =>
                                {
                                    opDevice.CameraLight(true);
                                    bool result = true;
                                    if (cameraDevice.IsOpen == false)
                                    {
                                        result = cameraDevice.Open();
                                    }
                                    var bm = cameraDevice.CaptureImage();
                                    cameraDevice.Save(bm, exper_package);
                                    opDevice.CameraLight(false);
                                    return(true);
                                }));
                            //是否还有动作
                            if (exper_package.action_list.Count > 1 && daiding_seat != null)
                            {
                                seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
                                generater.GeneratePutGelToNormal(daiding_seat, put_gel, ref seque_act);
                            }
                            else
                            {
                                seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
                                seque_act.AddAction(MoveTo.create(handDevice, 3000, (int)wasted_seat.X, (int)(wasted_seat.Y)));
                                seque_act.AddAction(HandPutCard.create(handDevice, 3000, (int)wasted_seat.ZPut, 0));
                                seque_act.AddAction(SkCallBackFun.create((ActionBase act_tem) => {
                                        DelPackage(exper_package);
                                        return(true);
                                    }));
                            }
                            next_state = 2;
                        }
                    }
                    break;

                    case TestStepEnum.ECONOMIZECOUNTTIME:
                    {
                        next_state = 0;
                        if (exper_package.is_open)
                        {
                            exper_package.after_kktime -= dt;
                            if (exper_package.after_kktime <= 0)
                            {
                                device     = handDevice;
                                next_state = 2;
                                exper_package.after_kktime = 0;
                                ResInfoData put_gel = null;
                                if (resinfo.Purpose == "lxj")
                                {
                                    put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act);
                                }
                                else
                                {
                                    put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act);
                                }

                                var wasted_seat = resmanager.GetResByCode("", "T_BJ_WastedSeat");        //垃圾位
                                seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
                                seque_act.AddAction(MoveTo.create(handDevice, 3000, (int)wasted_seat.X, (int)(wasted_seat.Y)));
                                seque_act.AddAction(HandPutCard.create(handDevice, 3000, (int)wasted_seat.ZPut, 0));
                            }
                        }
                    }
                    break;
                    }
                }
                if (device != null)
                {
                    seque_act.AddAction(SkCallBackFun.create((ActionBase act) =>
                    {
                        foreach (var act_tem in act_group)
                        {
                            act_tem.State = next_state;
                        }
                        return(true);
                    }));
                    foreach (var act_tem in act_group)
                    {
                        act_tem.State = 1;
                    }
                    seque_act.runAction(device);
                }
                else
                {
                    foreach (var act_tem in act_group)
                    {
                        act_tem.State = next_state;
                    }
                }
            }
        }
        //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>();

            if (experiment_package_list.Count == 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.PutOk)
                        {
                            is_empty = false;
                            var exp_pack = GetExpPackageByMask(resinfo.GetGelMask());
                            if (exp_pack == null)
                            {
                                exp_pack = GetExpPackageByMask(resinfo.GetCodeAt(0));
                            }
                            System.Diagnostics.Debug.Assert(exp_pack != null);
                            if (exp_pack == null)
                            {
                                return(false);
                            }
                            is_allcenact = is_allcenact && exp_pack.GetActionTypeAt(0) == TestStepEnum.ZKDLXJ;
                            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.PutOk && resinfo.FindCode("pei*", false) == false)
                    {
                        var exp_pack = GetExpPackageByMask(resinfo.GetGelMask());
                        if (exp_pack == null)
                        {
                            continue;
                        }
                        is_gelsoon = (exp_pack.GetActionTypeAt(0) == TestStepEnum.ZKDLXJ) ||
                                     (exp_pack.GetActionTypeAt(0) == TestStepEnum.ZKDFY &&
                                      exp_pack.GetActionTypeAt(1) == TestStepEnum.ZKDLXJ &&
                                      exp_pack.hatch_time - exp_pack.hatch_cur_time <= 20000);
                        if (seat.Purpose == 4 && exp_pack.FindAct(TestStepEnum.ZKDLXJ) && exp_pack.FindAct(TestStepEnum.ZKDFY) == 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);
                    T_GelStep[] pei_step = { new T_GelStep(), new T_GelStep() };
                    pei_step[0].StepClass = TestStepEnum.ZKDLXJ;
                    pei_step[1].StepClass = TestStepEnum.PutPeiGelBack;
                    var exp_pack = ExperimentPackage.Create(pei_step.ToList(), pei_gel.GetCodeAt(0), "123", 8, 0, 1, 0, false, 0, 0, false);
                    exp_pack.is_jyjs = true;
                    experiment_package_list.Add(exp_pack);
                    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, 6000000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime));
                seque.AddAction(SkCallBackFun.create((ActionBase acttem) =>
                {
                    foreach (var resinfo in resinfo_list)
                    {
                        var exp_pack = GetExpPackageByMask(resinfo.GetGelMask());
                        if (exp_pack == null)
                        {
                            exp_pack = GetExpPackageByMask(resinfo.GetCodeAt(0));
                        }
                        System.Diagnostics.Debug.Assert(exp_pack != null);
                        var act   = exp_pack.GetActionAt(0);
                        act.State = 2;
                    }
                    return(true);
                }));
                seque_pei.runAction(handDevice);
                seque.runAction(cendev);
                return(true);
            }
            return(false);
        }
Example #6
0
        //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);
        }
Example #7
0
        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);
        }