//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);
}