//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);
}
}
/// <summary>
/// 探测液面
/// </summary>
public void Detect()
{
if (this.SelectedBJ == null)
{
return;
}
var move_act = Sequence.create();
move_act.AddAction(InjectMoveTo.create(10000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
int x = 0;
int y = 0;
int z = 0;
int zl = (int)ZDeepWhenDetecting;
double gap = 0;
if (SelectedBJ is T_BJ_SampleRack sampleseat)
{
x = (int)(sampleseat.X);
y = (int)(sampleseat.Y + SeatYIndex * sampleseat.Gap);
z = (int)sampleseat.Z;
if (zl == 0)
{
zl = (int)sampleseat.Z + 1000;
}
else
{
zl = (int)sampleseat.Z + (int)ZDeepWhenDetecting;
}
gap = (double)sampleseat.Gap;
}
else if (SelectedBJ is T_BJ_DeepPlate deepplate)
{
x = (int)(deepplate.X + SeatXIndex * deepplate.GapX);
y = (int)(deepplate.Y + SeatYIndex * deepplate.GapY);
z = (int)deepplate.Z;
if (zl == 0)
{
zl = (int)deepplate.Z;
}
else
{
zl = (int)deepplate.Z + (int)ZDeepWhenDetecting;
}
gap = (double)deepplate.GapX;
}
else if (SelectedBJ is T_BJ_AgentiaWarehouse agentiaware)
{
x = (int)(agentiaware.X);
y = (int)(agentiaware.Y + SeatYIndex * agentiaware.Gap);
z = (int)agentiaware.Z;
if (zl == 0)
{
zl = (int)agentiaware.Z + 1000;
}
else
{
zl = (int)agentiaware.Z + (int)ZDeepWhenDetecting;
}
gap = (double)agentiaware.Gap;
}
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
points[ent.Index].x = x;
points[ent.Index].y = y + (int)(ent.Index * gap);
points[ent.Index].z = z;
points[ent.Index].zb = z;
}
move_act.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
move_act.AddAction(InjectDetector.create(30000, injectorDevice.GetSeleteced(), IMask.Gen(z), IMask.Gen((int)zl), IMask.Gen((int)0)));
move_act.runAction(injectorDevice);
}
//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);
}
}
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);
}
