//生成卡仓抓卡动作
public ResInfoData GenerateTakeGelFromWare(ResInfoData take_seat, ref Sequence seque, string gelmask = "")
{
if (take_seat != null)
{
//卡仓位移动
//抓手移动到卡仓机位
var move_act = Spawn.create(
MoveTo.create(Engine.getInstance().gelwareDevice, 3001, take_seat.StoreX, -1, -1),
MoveTo.create(Engine.getInstance().handDevice, 3001, take_seat.X, take_seat.Y));
seque.AddAction(move_act);
//抓手抓卡
var take_act = HandTakeCard.create(Engine.getInstance().handDevice, 3001, take_seat.Z, take_seat.ZLimit, take_seat.ZCatch, 0);
seque.AddAction(take_act);
//把测试卡放在卡仓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("卡仓无卡", true, false);
}
return(take_seat);
}
public void ErrorCode(int tagerid, byte[] data)
{
string[] error_msg = { "电机归零超时", "电机运动超时", "电机运动中停止" };
int error_index = data[7] % 3;
int moto_index = handDevice.Hand.ZMotor.GetMotoIndex();
if (error_index == 2 && moto_index == data[5])
{
//初始化电机
var task = new Task(() =>
{
stop();
var act_tem = InitXyz.create(handDevice, 30000, false, false, true);
act_tem.init();
long lasttime = getSystemMs();
while (true)
{
long dt = 100;
act_tem.run(dt);
Thread.Sleep(100);
if (act_tem.isfinish)
{
break;
}
}
start();
});
task.Start();
}
if (error_index != 2)
{
ErrorSystem.WriteActError(error_msg[error_index], true, false);
}
}
public int GetIntBlock(String CanAddress, int timeout, out bool is_timeout)
{
int ret = 0;
if (CanAddress == null)
{
ErrorSystem.WriteActError("地址为空", true, false);
is_timeout = true;
return(ret);
}
String key = CanAddress.ToUpper();
int timecount = 0;
timeout = timeout / 10;
is_timeout = false;
if (key.Length == 0)
{
return(ret);
}
while (!RegisterMap.ContainsKey(key))
{
Thread.Sleep(1);
timecount++;
if (timecount > timeout)
{
last_error = "错误代码:" + CanAddress + " time:" + timeout * 10 + " src:" + GetStacktRace();
ErrorSystem.WriteCanError(last_error);
is_timeout = true;
return(0);
}
}
ret = RegisterMap[key];
return(ret);
}
//生成在普通位抓卡
public ResInfoData GenerateTakeGelFromNormal(ResInfoData take_seat, ref Sequence seque)
{
if (take_seat != null)
{
//抓手移动
seque.AddAction(MoveTo.create(Engine.getInstance().handDevice, 3001, (int)take_seat.X, (int)(take_seat.Y), 0));
//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);
seque.AddAction(take_act);
//把测试卡放在Gel位中
var geltem = take_seat.Values[take_seat.CountX, 0];
if (take_seat.Values != null)
{
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("普通位找不到卡", true, false);
}
return(take_seat);
}
public bool GetRealPump(AbstractCanDevice node_tem, Enterclose[] injects, ref int[] pump)
{
bool ret = true;
if (node_tem is InjectorDevice)
{
var device = (InjectorDevice)node_tem;
foreach (var inject in injects)
{
ret = ret && device.CanComm.ReadRegister(inject.PumpMotor.RealDistance.Addr);
if (inject.PumpMotor.Factor.SetValue <= 0)
{
ErrorSystem.WriteActError("加样通道:" + inject.Index + "校正因子不可为0", true, false, 9999);
return(false);
}
if (ret)
{
pump[inject.Index] = (int)device.CanComm.GetInt(inject.PumpMotor.RealDistance.Addr, 0);
pump[inject.Index] = Convert.ToInt32(pump[inject.Index] / Convert.ToDecimal(inject.PumpMotor.Factor.SetValue));
}
else
{
break;
}
}
}
return(ret);
}
public void TakeTipAuto()
{
//生成装帧动作
if (this.SelectedBJ == null)
{
return;
}
if (SelectedBJ is T_BJ_Tip tipseat)
{
var sequ_taketip = Sequence.create();
var tip_seat = resmanager.GetFreeTipActPoint(injectorDevice.GetSeleteced().Length, 2, tipseat.Name);
if (tip_seat != null)
{
int index = 0;
var tip_seat_tem = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
tip_seat_tem[ent.Index] = tip_seat[index];
index++;
}
var move_act = InjectMoveActs.create(20000, tip_seat_tem, false);
//sequ_taketip.AddAction(InjectMoveTo.create(3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_taketip.AddAction(move_act);
sequ_taketip.runAction(injectorDevice);
}
else
{
ErrorSystem.WriteActError("吸盘盒为空!", true, false, 9999);
}
}
}
//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);
}
//生成离心机抓卡动作
public bool GenerateTakeGelFromCent(T_Gel gel, ref Sequence seque, string code = "", int seatindex = -1)
{
var resmanager = ResManager.getInstance();
T_BJ_Centrifuge gelselect = (T_BJ_Centrifuge)resmanager.SearchGelCard(typeof(T_BJ_Centrifuge).Name, gel, true, code, seatindex);
var centrifuge = cenMrg.GetCentrifugeByCode(code);
if (centrifuge == null)
{
centrifuge = cenMrg.GetFreeCentrifuge();
}
if (gelselect != null)
{
//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)gelselect.Gel0), 5),
MoveTo.create(handDevice, 30000, (int)gelselect.HandX, (int)gelselect.HandY));
seque.AddAction(move_act);
//抓手抓卡
seque.AddAction(HandTakeCard.create(700000, (int)gelselect.HandZ, (int)gelselect.ZLimit, (int)gelselect.ZCatch, 0));
//把测试卡放在离心Gel位中
gelselect.Values[seatindex, 0] = null;
seque.destroyfun = (ActionBase act) =>
{
gelselect.Values[seatindex, 0] = gel;
return(true);
};
}
else
{
ErrorSystem.WriteActError("离心机位打不到卡");
}
return(gelselect != null);
}
public static int g_batch_id = 0; //实验批次号
protected override void OnViewLoaded()
{
foreach (var sample in Samples)
{
sample.TestItem1 = false;
sample.TestItem2 = false;
sample.TestItem3 = false;
sample.TestItem4 = false;
sample.TestItem5 = false;
sample.TestItem6 = false;
sample.TestItem7 = false;
sample.TestItem8 = false;
sample.TestItem9 = false;
}
op.CanComm.SetListenFun(op.OP.SampleRackCoils[0].Addr, CanFunCodeEnum.UPLOAD_REGISTER, RackChange);
var scaner_info = ResManager.getInstance().GetScaner("0");
if (scaner_info == null)
{
ErrorSystem.WriteActError("扫码器无法识别!", false);
}
if (scaner_info != null)
{
scaner = IoC.Get <AbstractScaner>(scaner_info.ScanerType);
scaner_port = scaner_info.Port;
}
visible = true;
for (int i = 0; i < 24; i++)
{
template_code_list.Add(new ScanSampleIndexData(i, string.Format("{0:D2}", i + 1), "*", string.Format("{0:D2}", i + 2)));
}
if (Samples.Count == 0)
{
for (int i = 0; i < 24; i++)
{
for (int j = 0; j < 6; j++)
{
var sample_code = "";
var resinfo = ResManager.getInstance().SearchGelCard("T_BJ_SampleRack", "", "", i, j);
resinfo.SetCode(sample_code);
resinfo.Values[resinfo.CountX, resinfo.CountY] = resinfo;
resinfo.sampleinfo = new SampleInfo(sample_code, (byte)i, (byte)j);
Samples.Add(resinfo.sampleinfo);
}
}
}
var samples_sort = Samples.ToList();
samples_sort.Sort((a, b) =>
{
return((a.RackIndex * 100 + a.Index) - (b.RackIndex * 100 + b.Index));
});
Samples.Clear();
foreach (var item in samples_sort)
{
Samples.Add(item);
}
base.OnViewLoaded();
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == false)
{
ErrorSystem.WriteActError("抓手无卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
step++;
}
break;
case 1:
act_movez.run(dt);
if (act_movez.getIsFinish())
{
step++;
}
break;
case 2:
resultz = hand.SwitchHand(true);
if (resultz)
{
step++;
}
break;
case 3:
act_movezb.run(dt);
if (act_movezb.getIsFinish())
{
step++;
}
break;
case 4:
isfinish = true;
break;
}
}
public void Ok()
{
var resmanager = ResManager.getInstance();
var actiongen = ActionGenerater.getInstance();
var GelList = (this.View as ScanSampleView).GelList;
List <T_GelStep> gelstep_list = new List <T_GelStep>();
foreach (var sample in Samples)
{
var test_list = sample.GetTestList();
var gel_list = new List <ResInfoData>();
foreach (var test in test_list)
{
var ware_seat = resmanager.GetResByCode(GelList[test].GelMask + "*", "T_BJ_GelWarehouse", "", "", lastinfo_list);
if (ware_seat == null)
{
ErrorSystem.WriteActError("无卡", true, false);
return;
}
ware_seat.sampleinfo = sample;
lastinfo_list.Add(ware_seat);
gel_list.Add(ware_seat);
}
foreach (var ware_seat in gel_list)
{
var gelend = new T_GelStep();
gelstep_list = gelstep_list.Concat(actiongen.ResolveActions(ware_seat)).ToList();
gelend.StepClass = TestStepEnum.GELEND;
gelstep_list.Add(gelend);
}
}
//破孔位还有多小个
int paperseat_count = 9;
for (int i = 0; i < gelstep_list.Count; i++)
{
if (gelstep_list[i].StepClass == TestStepEnum.LoadGel && paperseat_count > 0)
{
gelstep_list[i].StepIndex = 10000 - i;
paperseat_count--;
}
else
{
gelstep_list[i].StepIndex = 1000 - i;
}
}
gelstep_list.Sort((T_GelStep a, T_GelStep b) => { return(a.StepIndex < b.StepIndex ? 1 : -1); });
var action_tree = actiongen.DivideIntoGroups(gelstep_list, 1);
InjLogicManager.getInstance().AddAction(action_tree);
this.RequestClose();
}
//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);
}
public void Ok()
{
var resmanager = ResManager.getInstance();
var actiongen = ActionGenerater.getInstance();
var GelList = (this.View as ScanSampleView).GelList;
List <T_GelStep> gelstep_list = new List <T_GelStep>();
bool isRepeat = Samples.Where(item => item.Barcode != "").GroupBy(i => i.Barcode).Any(g => g.Count() > 1);
if (isRepeat)
{
ErrorSystem.WriteActError("样本条码有重复!", true, false);
}
else
{
var samples_list = Samples.Where(item => item.Barcode != "").ToList();
foreach (var sample in samples_list)
{
if (sample.Barcode != "")
{
var test_list = sample.GetTestList();
var gel_list = new List <T_Gel>();
foreach (var test in test_list)
{
var gel = GelList[test].clone();
if (gel.IsCrossMatching)
{
//交叉配血
//寻找当前木样本架连续位
var sample_list = GetCrossMatchingSampleInfo(sample);
foreach (var sample_tem in sample_list)
{
gel = GelList[test].clone();
var exp_package = ExperimentPackage.Create(actiongen.ResolveActions(gel), gel.GelMask, sample.Barcode, sample_tem.Barcode, sample.GetLever(), gel.GelType, gel.GelRenFen, gel.AfterKKTime, gel.IsUsedGel, gel.ID, gel.IsCrossMatching, g_batch_id, is_double);
ExperimentLogic.getInstance().AddPackage(exp_package);
}
}
else
{
var exp_package = ExperimentPackage.Create(actiongen.ResolveActions(gel), gel.GelMask, sample.Barcode, "", sample.GetLever(), gel.GelType, gel.GelRenFen, gel.AfterKKTime, gel.IsUsedGel, gel.ID, gel.IsCrossMatching, g_batch_id, is_double);
ExperimentLogic.getInstance().AddPackage(exp_package);
}
}
}
}
ExperimentLogic.getInstance().UpDataAction();
this.RequestClose();
g_batch_id++;
}
}
public void ClsCoilMap(String CanAddress)
{
if (CanAddress == null)
{
ErrorSystem.WriteActError("后台设置有误!", true, false, 9999);
return;
}
String key = CanAddress.ToUpper();
lock (BoolLock)
{
if (this.CoilMap.ContainsKey(key))
{
CoilMap.Remove(key);
}
}
}
//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);
}
/// <summary>
/// 初始化所有设备
/// </summary>
/// <returns></returns>
public ActionBase InitAllDevice()
{
var devices = new ValueTuple <AbstractCanDevice, String>[] { (this, "样本扫码器载架初始化失败")
, (IoC.Get <PiercerDevice>(), "打孔器初始化失败")
, (IoC.Get <CentrifugeMrg>(), "离心管理器初始化失败")
//,(IoC.Get<GelWarehouseDevice>(),"卡仓初始化失败")
, (IoC.Get <CouveuseMixerDevice>(), "孵育或混匀初始化失败")
//,(IoC.Get<MachineHandDevice>(),"机械手初始化失败")
//,(IoC.Get<InjectorDevice>(),"加样器初始化失败")
};
var seq = Sequence.create();
var spa = Spawn.create();
spa.AddAction(InitXyz.create(this, 10000, true, false, false));
foreach (var device in devices)
{
var act = device.Item1.InitAll();
if (act != null)
{
spa.AddAction(act);
}
}
var seq_hand_ware_inj = Sequence.create();
var act_inj = IoC.Get <InjectorDevice>().InitAll();
var act_hand = IoC.Get <MachineHandDevice>().InitAll();
var act_ware = IoC.Get <GelWarehouseDevice>().InitAll();
seq_hand_ware_inj.AddAction(act_inj);
seq_hand_ware_inj.AddAction(act_hand);
seq_hand_ware_inj.AddAction(act_ware);
spa.AddAction(seq_hand_ware_inj);
seq.AddAction(Sequence.create(spa, SkCallBackFun.create((ActionBase acttem) =>
{
if (acttem.istimeout == false)
{
ErrorSystem.WriteActError("开机成功!", true, false);
}
return(true);
})));
CameraLight(false);
LedGreen();
return(seq);
}
//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);
}
//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 StopAll(int tagerid, byte[] data)
{
if (data[5] == 0xff)
{
var task = new Task(() =>
{
stop();
handDevice.CanComm.StopMotor(handDevice.Hand.XMotor);
handDevice.CanComm.StopMotor(handDevice.Hand.YMotor);
handDevice.CanComm.StopMotor(handDevice.Hand.ZMotor);
injectorDevice.CanComm.StopMotor(injectorDevice.Injector.XMotor);
foreach (var ent in injectorDevice.Injector.Entercloses)
{
injectorDevice.CanComm.StopMotor(ent.YMotor);
injectorDevice.CanComm.StopMotor(ent.ZMotor);
}
ActionManager.getInstance().removeAllActions();
ExperimentLogic.getInstance().DelAllPackage();
ErrorSystem.WriteActError("系统急停!请重新开机", true, false, 999999);
start();
});
task.Start();
}
}
unsafe public override void Can_Rec_Tick()
{
UInt32 res = new UInt32();
res = VCI_GetReceiveNum(DevType, DevIndex, CanIndex);
if (res == 0)
{
return;
}
/////////////////////////////////////
UInt32 con_maxlen = 100;
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * (Int32)con_maxlen);
res = VCI_Receive(DevType, DevIndex, CanIndex, pt, con_maxlen, 5);
////////////////////////////////////////////////////////
String str = "";
for (UInt32 i = 0; i < res; i++)
{
VCI_CAN_OBJ?reviceObj = null;
try
{
reviceObj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)(pt.ToInt64() + i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
if (!reviceObj.HasValue)
{
break;
}
var obj = reviceObj.Value;
var targetID = (byte)(obj.ID >> 3);
var mask = (byte)(obj.ID & 0b111);
Console.Write("rec: 0x{0:x4} ", obj.ID);
for (var j = 0; j < obj.DataLen; j++)
{
Console.Write("0x{0:x2} ", obj.Data[j]);
}
TimeSpan ts = DateTime.Now - new DateTime(1970, 1, 1, 0, 0, 0, 0);
Console.WriteLine("TimeStamp:" + Convert.ToInt64(ts.TotalSeconds).ToString());
if (targetID != (byte)(ID & (0xFF << 3 | mask)))
{
Console.WriteLine("ID不符，数据丢弃");
continue;
}
//Console.WriteLine("objlen=" + obj.DataLen);
str = "接收到数据: ";
str += " 设备ID:0x" + Convert.ToString(targetID, 16);
str += " ID掩码:0x" + Convert.ToString(mask, 16);
str += " 帧格式:";
if (obj.RemoteFlag == 0)
{
str += "数据帧 ";
}
else
{
str += "远程帧 ";
}
if (obj.ExternFlag == 0)
{
str += "标准帧 ";
}
else
{
str += "扩展帧 ";
}
//////////////////////////////////////////
if (obj.RemoteFlag == 0)
{
str += "数据: ";
byte len = (byte)(Math.Min(obj.DataLen % 50, 8));
byte[] data = new byte[len];
for (byte j = 0; j < len; j++)
{
data[j] = obj.Data[j];
str += " " + ByteUtil.ToHex(obj.Data[j]);
}
//bool is_mask = (data[0] & 0x07) == 0x07;
//data[0] = is_mask ? (byte)(data[0] >> 3) : data[0];
(String CanAddress, CanFunCodeEnum FunCode) = ParseCanData(data);
if (FunCode == CanFunCodeEnum.UPLOAD_COIL || FunCode == CanFunCodeEnum.UPLOAD_REGISTER || FunCode == CanFunCodeEnum.READ_COIL || FunCode == CanFunCodeEnum.READ_REGISTER || FunCode == CanFunCodeEnum.WRITE_SINGLE_COIL || FunCode == CanFunCodeEnum.WRITE_SINGLE_REGISTER)
{
lock (RecSafeData.Lock)
{
bool is_pass = true;
if (FunCode == CanFunCodeEnum.WRITE_SINGLE_COIL || FunCode == CanFunCodeEnum.WRITE_SINGLE_REGISTER)
{
is_pass = data[3] == 0xb0 || data[4] == 0xff || data[5] == 0xff;
}
if (is_pass == false)
{
ErrorSystem.WriteActError("通讯返回错误！", false);
}
if (is_pass)
{
string key_str = ByteUtil.ToHex(targetID) + ByteUtil.ToHex(data[0]) + ByteUtil.ToHex(data[1]) + ByteUtil.ToHex(data[2]) + ByteUtil.ToHex(data[3]);
if (!Rec_SafeData.ContainsKey(key_str))
{
Rec_SafeData.Add(key_str, true);
}
else
{
Rec_SafeData[key_str] = true;
}
if (ListenFunList.ContainsKey(key_str))
{
var task = Task.Run(() =>
{
ListenFunList[key_str](targetID, data);
});
}
}
}
}
switch (FunCode)
{
case CanFunCodeEnum.READ_COIL:
{
byte length = 1;
String canId = CanAddress.Split('-')[0];
UInt16 addr = ByteUtil.BytesToUInt16(data[2], data[3]);
for (byte k = 0; k < length; k++)
{
byte curData = data[k / 8 + 4];
String key = canId + "-" + Convert.ToString(addr + k, 16).PadLeft(4, '0').ToUpper();
//var val = ((0x01 << (k % 8)) & curData) == 0x01;
var val = data[4] == 0xff;
SetBool(key, val);
}
break;
}
case CanFunCodeEnum.UPLOAD_COIL:
{
byte length = data[4];
String canId = CanAddress.Split('-')[0];
UInt16 addr = ByteUtil.BytesToUInt16(data[2], data[3]);
for (byte k = 0; k < length; k++)
{
byte curData = data[k / 8 + 5];
String key = canId + "-" + Convert.ToString(addr + k, 16).PadLeft(4, '0').ToUpper();
var val = ((0x01 << (k % 8)) & curData) == 0x01;
SetBool(key, val);
}
break;
}
case CanFunCodeEnum.READ_REGISTER:
case CanFunCodeEnum.UPLOAD_REGISTER:
{
var val = ByteUtil.BytesToInt(data[4], data[5], data[6], data[7]);
SetInt(CanAddress, val);
break;
}
case CanFunCodeEnum.WRITE_MULTI_COIL:
{
break;
}
case CanFunCodeEnum.WRITE_SINGLE_COIL:
{
break;
}
case CanFunCodeEnum.WRITE_SINGLE_REGISTER:
{
break;
}
}
}
//Console.WriteLine(str);
}
Marshal.FreeHGlobal(pt);
}
public unsafe override bool Send(byte targetId, byte[] data, byte mask, bool is_wait)
{
string sendmsg = "";
bool is_send_ok = false;
lock (Send_Lock)
{
Thread.Sleep(2);
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
//sendobj.Init();
string adressstr = string.Format("{0:D2}-{1:x}{2:x}", targetId, data[2], data[3]);
ClsCoilMap(adressstr);
sendobj.SendType = 0x00; //02 自发自收 //0x00;//正常发送
sendobj.RemoteFlag = 0x00; //数据帧
sendobj.ExternFlag = 0x00; //标准帧
targetId = (byte)((0xFF << 3 | mask) & targetId);
var canid = targetId << 3 | (mask & 0b111);
sendobj.ID = System.Convert.ToUInt32(canid);
int len = data.Length;
sendobj.DataLen = System.Convert.ToByte(len);
sendmsg = string.Format("send:0x{0:x4} ", canid);
for (var j = 0; j < Math.Min(len, 8); j++)
{
sendobj.Data[j] = data[j];
sendmsg += string.Format("0x{0:x2} ", data[j]);
}
TimeSpan ts = DateTime.Now - new DateTime(1970, 1, 1, 0, 0, 0, 0);
sendmsg += "TimeStamp:" + Convert.ToInt64(ts.TotalSeconds).ToString();
//安全重发
(String CanAddress, CanFunCodeEnum FunCode) = ParseCanData(data);
string key_str = ByteUtil.ToHex(data[0]) + ByteUtil.ToHex(targetId) + ByteUtil.ToHex(data[1]) + ByteUtil.ToHex(data[2]) + ByteUtil.ToHex(data[3]);
lock (RecSafeData.Lock)
{
if (!Rec_SafeData.ContainsKey(key_str))
{
Rec_SafeData.Add(key_str, false);
}
else
{
Rec_SafeData[key_str] = false;
}
}
bool is_find = is_wait ? false : true;
for (int i = 0; i < 5; i++)
{
Console.WriteLine(sendmsg);
is_send_ok = VCI_Transmit(DevType, DevIndex, CanIndex, ref sendobj, 1) != 0;
if (!is_send_ok)
{
continue;
}
if (is_wait)
{
for (int wait_count = 0; wait_count < 200; wait_count++)
{
lock (RecSafeData.Lock)
{
if (Rec_SafeData[key_str])
{
Rec_SafeData[key_str] = false;
is_find = true;
break;
}
}
if (is_find)
{
break;
}
Thread.Sleep(1);
}
}
if (is_find)
{
break;
}
Thread.Sleep(100);
}
is_send_ok = is_find;
}
if (is_send_ok == false)
{
if (ErrorSystem.WriteActError("板号" + targetId + ":通讯错误!\n错误代码:\n" + sendmsg.Replace("send:", ""), true, true, 20) == false)
{
lock (ActionManager.lockObj)
{
var action_manager = ActionManager.getInstance();
var experiment_logic = ExperimentLogic.getInstance();
action_manager.removeAllActions();
experiment_logic.DelAllPackage();
}
}
}
return(is_send_ok);
}
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);
}
public override void run(double dt)
{
bool resulty = true;
if (CountTime(dt))
{
return;
}
var device = new ActionDevice(node);
var inject_device = (InjectorDevice)node;
switch (step)
{
case 0:
//容量检测
bool is_ok = true;
int index = 0;
foreach (var inject in injects)
{
bool is_timeout = false;
inject_device.CanComm.ReadRegister(inject.PumpMotor.RealDistance.Addr);
int curz = inject_device.CanComm.GetIntBlock(inject.PumpMotor.RealDistance.Addr, 1000, out is_timeout);
movez[inject.Index] = curz + absorbs[inject.Index];
bool is_enough = is_timeout == false && movez[inject.Index] <= (int)inject.PumpMotor.Maximum.SetValue && movez[inject.Index] >= 0;
if (is_enough == false || is_timeout)
{
index = inject.Index;
is_ok = false;
break;
}
}
if (is_ok)
{
step++;
}
else
{
bool ret = ErrorSystem.WriteActError("液泵:" + index + "容量不足!");
if (ret == false)
{
istimeout = true;
errmsg = "液泵:" + index + "容量不足!";
return;
}
}
if (injects.Count() == 0)
{
bool ret = ErrorSystem.WriteActError("没有可用加样器");
if (ret == false)
{
istimeout = true;
errmsg = "没有可用加样器";
return;
}
}
break;
case 1:
resulty = device.MovePump(injects, speed, movez);
if (resulty)
{
step++;
}
break;
case 2:
isfinish = device.DonePump(injects);
break;
}
}
//无速度手动限制
public bool MoveY(Enterclose[] injects, int speed = 0, bool is_abs = false, params int[] y)
{
bool ret = false;
System.Diagnostics.Debug.Assert(y.Count() == 4);
System.Diagnostics.Debug.Assert(injects != null);
if (injects.Length == 0)
{
return(true);
}
if (node is InjectorDevice)
{
ret = true;
var device = (InjectorDevice)node;
var realy = IMask.Gen(0);
GetRealY(injects, ref realy);
foreach (var inject in injects)
{
int set_speed = 0;
if (speed == 0)
{
set_speed = inject.YMotor.Speed.SetValue;
}
else if (speed == 1)
{
set_speed = inject.YMotor.SecondSpeed.SetValue;
}
else if (speed == 2)
{
set_speed = inject.YMotor.DownSpeed.SetValue;
}
else
{
set_speed = speed;
}
if (inject.YMotor.device_speed != set_speed)
{
ret = ret && device.CanComm.SetRegister(inject.YMotor.Speed.Addr, set_speed);
if (ret)
{
inject.YMotor.device_speed = set_speed;
}
}
int pcby = 0;
int pcbry = realy[inject.Index];
int distance = Convert.ToInt32(y[inject.Index] * Convert.ToDecimal(inject.YMotor.Factor.SetValue));
if (is_abs)
{
pcby = distance;
}
else
{
pcby = distance - (int)inject.TipDis;
}
if (pcby < 0)
{
pcby = distance - (int)inject.InjWidth;
}
if (pcby < 0)
{
if (y[inject.Index] != 0)
{
ErrorSystem.WriteActError("加样器:" + (inject.Index + 1) + "无法到达" + y[inject.Index], true, false);
var act_list = ActionManager.getInstance().getAllRuningActions(node);
foreach (var act in act_list)
{
act.isdelete = true;
}
return(false);
}
else
{
pcby = 0;
}
}
device.CanComm.Set2PLC(inject.YMotor.StopCoil);
ret = ret && device.CanComm.StopMotor(inject.YMotor);
ret = ret && device.CanComm.SetCoilOff(inject.YMotor.DoneCoil.Addr);
ret = ret && device.CanComm.SetRegister(inject.YMotor.Distance.Addr, pcby);
}
//Thread.Sleep(50);
foreach (var inject in injects)
{
Thread.Sleep(20);
ret = ret && device.CanComm.StartMotor(inject.YMotor);
Thread.Sleep(20);
}
}
System.Diagnostics.Debug.Assert(ret);
return(ret);
}
public static void Log(string msgtem)
{
engineinstance.msgdata.Add(msgtem);
ErrorSystem.WriteActError(msgtem, true, false);
//engineinstance.msgdata.Add(new MsgItem() { msg = msgtem });
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == false)
{
ErrorSystem.WriteActError("抓手无卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
if (hand.CanComm.SetRegister(hand.Hand.ZMotor.Speed.Addr, hand.Hand.ZMotor.Speed.SetValue))
{
step++;
}
}
break;
case 1:
resultz = device.MoveZ((int)z);
if (resultz)
{
step++;
}
break;
case 2:
if (device.DoneZ())
{
step++;
}
break;
case 3:
resultz = hand.SwitchHand(true);
if (resultz)
{
step++;
}
break;
case 4:
resultz = device.MoveZ((int)zb);
if (resultz)
{
step++;
}
break;
case 5:
isfinish = device.DoneZ();
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == true)
{
ErrorSystem.WriteActError("抓手有卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
if (hand.CanComm.SetRegister(hand.Hand.ZMotor.Speed.Addr, hand.Hand.ZMotor.Speed.SetValue))
{
step++;
}
}
break;
case 1:
resultz = hand.Hand.IsOpen || (hand.Hand.IsOpen == false && hand.SwitchHand(true));
if (resultz)
{
step++;
}
break;
case 2:
resultz = device.MoveZ((int)z, true);
if (resultz)
{
step++;
}
break;
case 3:
if (device.DoneZ())
{
step++;
}
break;
case 4:
resultz = device.MoveZ((int)zl, false);
if (resultz)
{
step++;
}
break;
case 5:
if (sumdt - lasttime > 50)
{
lasttime = sumdt;
if (hand.CheckGel() == true)
{
resultz = hand.CanComm.SetCoilOff(hand.Hand.ZMotor.StartCoil.Addr);
if (resultz)
{
step++;
}
}
}
break;
case 6:
bool is_timeout = false;
hand.CanComm.ReadRegister(hand.Hand.ZMotor.RealDistance.Addr);
curz = hand.CanComm.GetIntBlock(hand.Hand.ZMotor.RealDistance.Addr, 1000, out is_timeout) + (int)zc;
if (is_timeout)
{
ErrorSystem.WriteActError("抓手超时", true);
istimeout = true;
isfinish = true;
return;
}
else
{
step++;
}
break;
case 7:
resultz = device.MoveZ((int)curz, true);
if (resultz)
{
step++;
}
break;
case 8:
resultz = hand.SwitchHand(false);
if (resultz)
{
step++;
}
break;
case 9:
resultz = device.MoveZ((int)zb, true);
if (resultz)
{
step++;
}
break;
case 10:
isfinish = device.DoneZ();
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == true)
{
ErrorSystem.WriteActError("抓手有卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
step++;
}
break;
case 1:
resultz = hand.Hand.IsOpen || (hand.Hand.IsOpen == false && hand.SwitchHand(true));
if (resultz)
{
step++;
}
break;
case 2:
act_movez.run(dt);
if (act_movez.getIsFinish())
{
step++;
}
break;
case 3:
act_movezl.run(dt);
if (sumdt - lasttime > 50)
{
lasttime = sumdt;
if (hand.CheckGel() == true)
{
resultz = hand.CanComm.SetCoilOff(hand.Hand.ZMotor.StartCoil.Addr);
if (resultz)
{
step++;
}
}
}
if (act_movezl.getIsFinish())
{
ErrorSystem.WriteActError("抓手抓不到卡！", true);
istimeout = true;
isfinish = true;
return;
}
break;
case 4:
bool is_timeout = false;
hand.CanComm.ReadRegister(hand.Hand.ZMotor.RealDistance.Addr);
curz = hand.CanComm.GetIntBlock(hand.Hand.ZMotor.RealDistance.Addr, 1000, out is_timeout) + (int)zc;
if (is_timeout)
{
ErrorSystem.WriteActError("抓手超时", true);
istimeout = true;
isfinish = true;
return;
}
else
{
act_movecurz = MoveTo.create(node, time, -1, -1, curz);
act_movecurz.init();
step++;
}
break;
case 5:
act_movecurz.run(dt);
if (act_movecurz.getIsFinish())
{
step++;
}
break;
case 6:
resultz = hand.SwitchHand(false);
if (resultz)
{
step++;
}
break;
case 7:
act_movezb.run(dt);
if (act_movezb.getIsFinish())
{
step++;
}
break;
case 8:
isfinish = true;
break;
}
}
