public override void run(double dt)
{
bool resultx = true;
bool resulty = true;
bool resultz = true;
if (CountTime(dt))
{
return;
}
var device = new ActionDevice(node);
var inject_device = (InjectorDevice)node;
switch (step)
{
case 0:
//inject_device.CanComm.SetByte(inject_device.Injector.TMotor.PickTMotor.Addr, 0x0000);
resultx = xdone || device.MoveX(x);
resulty = ydone || device.MoveY(injects, speed, y);
resultz = zdone || device.MoveZ(injects, speed, z);
if (resultx && resulty && resultz)
{
step++;
}
break;
case 1:
if (xdone == false)
{
xdone = device.DoneX();
}
if (ydone == false)
{
ydone = device.DoneY(injects);
}
if (zdone == false)
{
zdone = device.DoneZ(injects);
}
isfinish = xdone && ydone && zdone;
break;
}
}
public override void run(double dt)
{
bool resultx = true;
bool resulty = true;
bool resultz = true;
int device_rx = 0;
int device_cx = 0;
AbstractCanDevice checkdev = null;
var handdev = ActionGenerater.getInstance().handDevice;
var injectdev = ActionGenerater.getInstance().injectorDevice;
if (CountTime(dt))
{
return;
}
var device = new ActionDevice(node);
if (node is InjectorDevice)
{
checkdev = ActionGenerater.getInstance().handDevice;
device_cx = (int)handdev.Hand.XMotor.CurrentDistance;
}
else if (node is MachineHandDevice)
{
checkdev = ActionGenerater.getInstance().injectorDevice;
device_cx = (int)injectdev.Injector.XMotor.CurrentDistance;
}
switch (step)
{
case 0:
if (x >= 0 && checkdev != null && false)
{
sumdt = 0;
wait_time += dt;
if (wait_time > 500)
{
wait_time = 0;
bool is_timeout = false;
if (checkdev is MachineHandDevice)
{
handdev.CanComm.ReadRegister(handdev.Hand.XMotor.RealDistance.Addr);
device_rx = handdev.CanComm.GetIntBlock(handdev.Hand.XMotor.RealDistance.Addr, 1000, out is_timeout);
}
else if (checkdev is InjectorDevice)
{
injectdev.CanComm.ReadRegister(injectdev.Injector.XMotor.RealDistance.Addr);
device_rx = injectdev.CanComm.GetIntBlock(injectdev.Injector.XMotor.RealDistance.Addr, 1000, out is_timeout);
}
if (is_timeout == false)
{
int device_max = 10000 - x;
if (device_max < 0)
{
device_max = 0;
}
if (device_rx <= device_max && device_cx <= device_max)
{
step++;
}
else if (ActionManager.getInstance().getAllRuningActionsCount(checkdev) == 0)
{
Sequence sequ = null;
List <Enterclose> ents = new List <Enterclose>();
ents.Add(injectdev.Injector.Entercloses[0]);
if (checkdev is MachineHandDevice)
{
sequ = Sequence.create(MoveTo.create(checkdev, 3000, -1, -1, 0), MoveTo.create(checkdev, 3000, device_max, -1, -1));
}
else if (checkdev is InjectorDevice)
{
sequ = Sequence.create(InjectMoveTo.create(3000, ents.ToArray(), -1, IMask.Gen(-1), IMask.Gen(0)), MoveTo.create(checkdev, 3000, device_max, -1, -1));
}
sequ.runAction(checkdev);
}
}
}
}
else
{
}
step++;
break;
case 1:
if (x >= 0)
{
resultx = device.MoveX((int)x);
}
if (y >= 0)
{
resulty = device.MoveY((int)y);
}
if (z >= 0)
{
resultz = device.MoveZ((int)z, speed);
}
if (resultx && resulty && resultz)
{
step++;
}
break;
case 2:
if (xdone == false)
{
xdone = device.DoneX();
}
if (ydone == false)
{
ydone = device.DoneY();
}
if (zdone == false)
{
zdone = device.DoneZ();
}
isfinish = xdone && ydone && zdone;
break;
}
}
