/// <summary>
/// 分液
/// </summary>
public void Distribute()
{
int[] absorbs = { (int)DistributeVol, (int)DistributeVol, (int)DistributeVol, (int)DistributeVol };
var act = Sequence.create(InjectAbsorb.create(3000, injectorDevice.GetSeleteced(), DistributeSpeed, absorbs, IMask.Gen(0)));
act.runAction(injectorDevice);
}
/// <summary>
/// 吸液
/// </summary>
public void Absorb()
{
int[] absorbs = { -(int)AbsorbVol, -(int)AbsorbVol, -(int)AbsorbVol, -(int)AbsorbVol };
var act = Sequence.create(InjectAbsorb.create(30000, injectorDevice.GetSeleteced(), AbsorbSpeed, absorbs, IMask.Gen(0)));
act.runAction(injectorDevice);
}
//按小组生成动作
public Sequence GenerateAction(List <T_GelStep> act_group, SampleInfo sample_info)
{
//更新坐标计算针头个数
int zt_count = 0;
foreach (var act in act_group)
{
zt_count += act.InjectCount;
act.UpdataPoints(sample_info);
}
var resmanager = ResManager.getInstance();
Enterclose[] enters = new Enterclose[zt_count];//使用加样器个数
for (int i = 0; i < zt_count; i++)
{
enters[i] = injectorDevice.Injector.Entercloses[i];
}
//生成装帧动作
var tip_seat = resmanager.GetFreeTip(zt_count);
int [] absorbs =
{
(int)injectorDevice.Injector.Entercloses[0].PumpMotor.Maximum.SetValue,
(int)injectorDevice.Injector.Entercloses[1].PumpMotor.Maximum.SetValue,
(int)injectorDevice.Injector.Entercloses[2].PumpMotor.Maximum.SetValue,
(int)injectorDevice.Injector.Entercloses[3].PumpMotor.Maximum.SetValue
};
var sequ_taketip = Sequence.create(
InjectTakeTip.create(30000, tip_seat.Z, 0, 0, tip_seat),
InjectAbsorbMove.create(30000, enters, 100, absorbs));
//生成加样动作
var sequ_takesample = Sequence.create();
var act_tree = DivideXIntoGroups(act_group);
int inject_beg = 0;
int[] point = { 0, 0, 0, 0 };
for (int i = 0; i < 4; i++)
{
point[i] = (int)injectorDevice.Injector.Entercloses[i].YMotor.CurrentDistance;
if (point[i] == 0)
{
point[i] += (int)injectorDevice.Injector.Entercloses[i].YZero;
}
}
foreach (var act_g in act_tree)
{
var sque_movey = Sequence.create();
int index = 0;
bool is_ok = false;
int[] tager = { -1, -1, -1, -1 };
int[] width = { 0, 0, 0, 0 };
for (int i = 0; i < 4; i++)
{
width[i] = (int)injectorDevice.Injector.Entercloses[1].YZero;
if (i < act_g.Count())
{
tager[inject_beg + i] = act_g[i].Abs_Y;
}
}
GenerateSampleAddAct(ref sque_movey, ref index, ref tager, ref point, ref width, ref is_ok);
inject_beg += act_g.Count();
if (is_ok)
{
sequ_takesample.AddAction(MoveTo.create(30000, act_g[0].Abs_X, -1, -1));//移动X
sequ_takesample.AddAction(sque_movey);
}
}
//生成混合液体
var sequ_mixsample = Sequence.create();
foreach (var act in act_group)
{
if (act.IsMix())
{
sequ_mixsample.AddAction(MoveTo.create(30000, act.Mix_X, act.Mix_Y, -1));
sequ_mixsample.AddAction(InjectMoveTo.create(30000, enters, -1, IMask.Gen(-1), IMask.Gen(act.Mix_Z)));
if (act.StepClass == TestStepEnum.FPXSY)
{
for (int i = 0; i < 3; i++)
{
absorbs[0] = 1000;
sequ_mixsample.AddAction(InjectAbsorb.create(30000, enters, 100, absorbs));
absorbs[0] = -1000;
sequ_mixsample.AddAction(InjectAbsorb.create(30000, enters, 100, absorbs));
}
}
if (act.IsSpu() == false)
{
absorbs[0] = 1000;
sequ_mixsample.AddAction(InjectAbsorb.create(30000, enters, 100, absorbs));
}
sequ_mixsample.AddAction(InjectMoveTo.create(30000, enters, -1, IMask.Gen(-1), IMask.Gen(0)));
}
}
//生成分配动作
var sequ_putsample = Sequence.create();
foreach (var act in act_group)
{
if (act.IsSpu())
{
sequ_putsample.AddAction(MoveTo.create(30000, act.Spu_X, act.Spu_Y, -1));
sequ_putsample.AddAction(InjectMoveTo.create(30000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(act.Spu_Z)));
absorbs[0] = 1000;
sequ_putsample.AddAction(InjectAbsorb.create(30000, injectorDevice.GetSeleteced(), 100, absorbs));
sequ_putsample.AddAction(InjectMoveTo.create(30000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
}
}
var action_list = Sequence.create();
//生成脱针动作
var sequ_puttip = Sequence.create();
var inject_unload = resmanager.unload_list;
if (inject_unload.Count() == 1)
{
sequ_puttip.AddAction(InjectPutTip.create(30000, (int)inject_unload[0].Z, 800, (int)inject_unload[0].FirstX, 0, new TakeTipData((int)inject_unload[0].X, (int)inject_unload[0].Y, 0, 1)));
sequ_puttip.AddAction(InitXyz.create(30000, injectorDevice.GetSeleteced(), false, false, true));
}
action_list.AddAction(sequ_taketip);
action_list.AddAction(sequ_takesample);
action_list.AddAction(sequ_mixsample);
action_list.AddAction(sequ_putsample);
action_list.AddAction(sequ_puttip);
return(action_list);
}
//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);
}
}
//生成加样移动组合
public void GenerateInjectActGroup(ref Sequence seque, int [] hitsort, ref int index, ref ActionPoint[] tager, ref int[] point, ref int[] width, ref double[] width_rate, ref bool is_ok, ActionBase move_x = null)
{
int hit_index = 0;
if (index < 4)
{
hit_index = hitsort[index];
}
if (index == 4)
{
is_ok = true;
return;
}
else if ((tager[hit_index].isdone && tager[hit_index].y == point[hit_index]) || tager[hit_index].y == -1)
{
index++;
GenerateInjectActGroup(ref seque, hitsort, ref index, ref tager, ref point, ref width, ref width_rate, ref is_ok, move_x);
}
else
{
List <int[]> node_list = new List <int[]>();
int[] width_tem = IMask.Gen(0);
for (int i = 0; i < 4; i++)
{
width_tem[i] = (int)(width[i] * width_rate[hit_index]);
}
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_tem[n];
}
}
for (int n = 0; n < frist; n++)
{
if (point_tem[n] == 0 && n + 1 <= 3)
{
point_tem[n] = point_tem[frist] - width_tem[n] * (frist - n);
}
}
for (int n = 0; n < 4; n++)
{
bool isforward = n - 1 >= 0 ? point_tem[n] >= point_tem[n - 1] + width_tem[n - 1] : true;
bool isback = n + 1 <= 3 ? point_tem[n] + width_tem[n] <= point_tem[n + 1] : true;
ispass = isforward && isforward;
if (!ispass)
{
break;
}
}
if (ispass && point_tem[hit_index] == tager[hit_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 = IMask.Gen(-1);
int[] zz = IMask.Gen(-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];
}
}
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);
//得到到达的点
List <ActionPoint> done_points = new List <ActionPoint>();
List <Enterclose> entcloses = new List <Enterclose>();
for (int i = 0; i < 4; i++)
{
if (tager[i].y == point[i] && tager[i].isdone == false)
{
done_points.Add(tager[i]);
entcloses.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[i]);
tager[i].isdone = true;
}
}
var run_act = Sequence.create();
//对到达的点进行分类生成
int[] injz = IMask.Gen(-1);
int[] injzl = IMask.Gen(-1);
int[] injzd = IMask.Gen(-1);
int[] absorbs = IMask.Gen(-1);
run_act.AddAction(SkWaitForAction.create(move_x));
if (done_points.Count != 0)
{
if (done_points[0].type == TestStepEnum.JXZT)
{
var injact_sp = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z;
absorbs[entcloses[i].Index] = (int)entcloses[0].PumpMotor.Maximum.SetValue;
}
injact_sp.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2));
injact_sp.AddAction(InjectAbsorbMove.create(3001, entcloses.ToArray(), 100, absorbs));
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].zb;
}
run_act.AddAction(injact_sp);
run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz));
}
else if (done_points[0].type == TestStepEnum.PutTip)
{
var sequ = Sequence.create();
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z;
}
sequ.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2));
sequ.AddAction(MoveTo.create(3001, done_points[0].puttip_x, -1, -1));
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z - 1000;
}
sequ.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 1));
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].zb;
}
sequ.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz));
run_act.AddAction(sequ);
}
else if (done_points[0].type == TestStepEnum.AbsLiquid)
{
run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), IMask.Gen(-1), 0));
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z + done_points[i].deep;
absorbs[entcloses[i].Index] = -(done_points[i].capacity);
}
run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, done_points[0].deepspeed));
run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), done_points[0].absbspeed, absorbs));
//回吸
var back_act = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
if (done_points[i].backcapacity != 0)
{
absorbs[entcloses[i].Index] = -(done_points[i].backcapacity);
List <Enterclose> ent_tem = new List <Enterclose>();
ent_tem.Add(entcloses[i]);
back_act.AddAction(Sequence.create(SKSleep.create(200), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs)));
}
}
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].zb;
}
back_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz));
run_act.AddAction(back_act);
}
else if (done_points[0].type == TestStepEnum.FollowAbsLiquid)
{
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z;
injzl[entcloses[i].Index] = done_points[i].z + done_points[i].detectordeep;
injzd[entcloses[i].Index] = done_points[i].deep;
absorbs[entcloses[i].Index] = -(done_points[i].capacity);
}
run_act.AddAction(InjectDetector.create(3001, entcloses.ToArray(), injz, injzl, injzd, 2, 1));
run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), done_points[0].absbspeed, absorbs));
//回吸
var back_act = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
if (done_points[i].backcapacity != 0)
{
absorbs[entcloses[i].Index] = -(done_points[i].backcapacity);
List <Enterclose> ent_tem = new List <Enterclose>();
ent_tem.Add(entcloses[i]);
back_act.AddAction(Sequence.create(SKSleep.create(200), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs)));
}
}
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].zb;
}
back_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz));
run_act.AddAction(back_act);
}
else if (done_points[0].type == TestStepEnum.SpuLiquid)
{
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z;
absorbs[entcloses[i].Index] = done_points[i].spucapacity + done_points[i].backcapacity;
}
run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2));
run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), done_points[0].spuspeed, absorbs));
//回吸
var back_act = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
if (done_points[i].backcapacity != 0)
{
absorbs[entcloses[i].Index] = -(done_points[i].backcapacity);
List <Enterclose> ent_tem = new List <Enterclose>();
ent_tem.Add(entcloses[i]);
back_act.AddAction(Sequence.create(SKSleep.create(200), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs)));
}
}
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].zb;
}
back_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz));
run_act.AddAction(back_act);
}
else if (done_points[0].type == TestStepEnum.MixLiquid)
{
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].z;
absorbs[entcloses[i].Index] = done_points[i].capacity + done_points[i].backcapacity;
}
run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2));
run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), 100, absorbs));//把稀释液放进去
//混合操作
var mix_act = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
List <Enterclose> ent_tem = new List <Enterclose>();
ent_tem.Add(entcloses[i]);
var mix_seq_act = Sequence.create();
if (done_points[i].mixtimes != 0)
{
for (int j = 0; j < done_points[i].mixtimes * 2; j++)
{
int mixz = done_points[i].z - done_points[i].mixdeep;//混合高度
if (mixz <= 0)
{
mixz = done_points[i].z;
}
absorbs[entcloses[i].Index] = j % 2 == 0 ? -done_points[i].capacity : done_points[i].capacity;
injz[entcloses[i].Index] = j % 2 == 0 ? done_points[i].z : mixz;
mix_seq_act.AddAction(InjectMoveTo.create(3001, ent_tem.ToArray(), -1, IMask.Gen(-1), injz, 2));
mix_seq_act.AddAction(InjectAbsorb.create(30001, ent_tem.ToArray(), 100, absorbs));
}
injz[entcloses[i].Index] = done_points[i].z;
mix_seq_act.AddAction(InjectMoveTo.create(3001, ent_tem.ToArray(), -1, IMask.Gen(-1), injz, 2));
absorbs[entcloses[i].Index] = (int)ent_tem[0].PumpMotor.Maximum.SetValue;
mix_seq_act.AddAction(InjectAbsorbMove.create(3001, ent_tem.ToArray(), 100, absorbs));
absorbs[entcloses[i].Index] = -(done_points[i].GetTubeList().Count *done_points[i].spucapacity);
mix_seq_act.AddAction(InjectAbsorb.create(3001, ent_tem.ToArray(), 100, absorbs));
}
mix_act.AddAction(mix_seq_act);
}
run_act.AddAction(mix_act);
var zb_act = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
injz[entcloses[i].Index] = done_points[i].zb;
}
zb_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz));
//回吸
var back_act = Spawn.create();
for (int i = 0; i < done_points.Count; i++)
{
List <Enterclose> ent_tem = new List <Enterclose>();
ent_tem.Add(entcloses[i]);
if (done_points[i].backcapacity != 0 && done_points[i].mixtimes != 0)
{
absorbs[entcloses[i].Index] = -(done_points[i].backcapacity);
back_act.AddAction(Sequence.create(SKSleep.create(500), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs)));
}
}
zb_act.AddAction(back_act);
run_act.AddAction(zb_act);
}
}
move_act.AddAction(run_act);
seque.AddAction(move_act);
GenerateInjectActGroup(ref seque, hitsort, ref index, ref tager, ref point, ref width, ref width_rate, ref is_ok, move_x);
}
}
