//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);
}
//生成在普通位抓卡
public bool GenerateTakeGelFromNormal(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, true, code, seatindex);
if (gelselect != null)
{
//抓手移动
seque.AddAction(MoveTo.create(300000, (int)gelselect.X, (int)(gelselect.Y + gelselect.Gap * seatindex), 0));
//抓手抓卡
seque.AddAction(HandTakeCard.create(700000, (int)gelselect.Z, (int)gelselect.ZLimit, (int)gelselect.ZCatch, 0));
//把测试卡放在Gel位中
gelselect.Values[seatindex, 0] = null;
seque.destroyfun = (ActionBase act) =>
{
gelselect.Values[seatindex, 0] = gel;
return(true);
};
}
else
{
ErrorSystem.WriteActError(gelselect.Code + "位已满");
}
return(gelselect != null);
}
//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);
}
//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);
}
//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);
}