//生成放卡在普通位
public bool GeneratePutGelToNormal(T_Gel gel, ref Sequence seque, string code = "", int seatindex = -1)
{
var resmanager = ResManager.getInstance();
T_BJ_GelSeat gelselect = (T_BJ_GelSeat)resmanager.SearchGelCard(typeof(T_BJ_GelSeat).Name, gel, false, code, seatindex);
if (gelselect != null)
{
//抓手移动
seque.AddAction(MoveTo.create(300000, (int)gelselect.X, (int)(gelselect.Y + gelselect.Gap * seatindex), 0));
//抓手放卡
seque.AddAction(HandPutCard.create(500000, (int)gelselect.ZPut, 0));
//把测试卡放在Gel位中
gelselect.Values[seatindex, 0] = gel;
seque.destroyfun = (ActionBase act) =>
{
gelselect.Values[seatindex, 0] = null;
return(true);
};
}
else
{
ErrorSystem.WriteActError(gelselect.Code + "位已满");
}
return(gelselect != null);
}
//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);
}
//生成离心机放卡动作
public bool GeneratePutGelToCent(T_Gel gel, ref Sequence seque, string code = "", int seatindex = -1)
{
int[] gelseatindex = { 0, 6, 1, 7, 2, 8, 3, 9, 4, 10, 5, 11 };
var centrifuge = cenMrg.GetCentrifugeByCode(code);
if (centrifuge == null)
{
centrifuge = cenMrg.GetFreeCentrifuge();
}
var gelseat = centrifuge.GetGelSeatsInfo();
var gelseatsetting = centrifuge.GetGelSeatSetting();
bool isfind = seatindex != -1;
if (seatindex == -1)
{
for (int i = 0; i < 12; i++)
{
int index = gelseatindex[i];
if (gelseat[index] == false)
{
seatindex = index;
isfind = true;
break;
}
}
}
if (isfind)
{
//离心机位移动
//抓手移动到离心机位
var move_act = Spawn.create(
MoveTo.create(centrifuge, 30000, -1, -1, (int)(seatindex * (double)gelseatsetting.Gel0), 5),
MoveTo.create(handDevice, 30000, (int)gelseatsetting.HandX, (int)gelseatsetting.HandY));
seque.AddAction(move_act);
//抓手放卡
seque.AddAction(HandPutCard.create(handDevice, 30000, (int)gelseatsetting.ZPut));
//把测试卡放在离心Gel位中
gelseatsetting.Values[seatindex, 0] = gel;
seque.destroyfun = (ActionBase act) =>
{
gelseatsetting.Values[seatindex, 0] = null;
return(true);
};
}
else
{
ErrorSystem.WriteActError("离心机位已满");
}
return(isfind);
}
//生成放卡在普通位
public bool GeneratePutGelToNormal(ResInfoData put_seat, ResInfoData put_gel, ref Sequence seque)
{
if (put_seat != null)
{
//抓手移动
seque.AddAction(MoveTo.create(Engine.getInstance().handDevice, 3001, (int)put_seat.X, (int)(put_seat.Y), 0));
//抓手放卡
var put_act = HandPutCard.create(Engine.getInstance().handDevice, 3001, (int)put_seat.ZPut, 0);
seque.AddAction(put_act);
//把测试卡放在Gel位中
if (put_seat.Values != null)
{
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) =>
{
if (put_seat.Values != null)
{
put_seat.Values[put_seat.CountX, 0] = null;
}
ResManager.getInstance().handseat_resinfo = null;
return(true);
};
}
else
{
ErrorSystem.WriteActError("普通位已满", true, false);
}
return(put_seat != null);
}
//生成卡仓放卡动作
public bool GeneratePutGelToWare(ResInfoData put_seat, ResInfoData put_gel, ref Sequence seque)
{
if (put_seat != null)
{
var move_act = Spawn.create(
MoveTo.create(Engine.getInstance().gelwareDevice, 3001, (int)(put_seat.StoreX), -1, -1),
MoveTo.create(Engine.getInstance().handDevice, 3001, (int)put_seat.X, (int)put_seat.Y));
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("卡仓位已满", true, false);
}
return(put_seat != null);
}
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;
}
}
}
}
//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);
}
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;
}
}