public static InitXyz create(double ttime = 0, Enterclose[] iinjects = null, bool xx = true, bool yy = true, bool zz = true)
{
InitXyz acttem = InitXyz.create(ttime, xx, yy, zz);
acttem.injects = iinjects;
return(acttem);
}
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 static InitXyz create(AbstractCanDevice nodetem, double ttime = 0, bool xx = true, bool yy = true, bool zz = true)
{
InitXyz acttem = InitXyz.create(ttime, xx, yy, zz);
acttem.node = nodetem;
return(acttem);
}
public void ClsAction()
{
lock (mylock)
{
//清理完成动作
bool iscls = false;
for (int i = action_tree.Count - 1; i >= 0; i--)
{
if (action_tree[i][0].State == 2)
{
action_tree.Remove(action_tree[i]);
iscls = true;
}
}
if (iscls && action_tree.Count == 0)
{
var act = Sequence.create(
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)),
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.GetSeleteced(), 0, IMask.Gen(0), IMask.Gen(-1)),
InitXyz.create(injectorDevice, 5000, injectorDevice.GetSeleteced(), true, true, true));
act.runAction(injectorDevice);
}
}
}
//执行
public void Logic(double dt)
{
ClsAction();
//并行执行
foreach (var pack in experiment_package_list)
{
if (pack.action_list.Count != 0)
{
if (pack.is_jyjs)
{
var cen_tree = generater.DivideIntoGroups(pack.action_list, 1);
ActLogic(cen_tree[0], null, dt);
}
}
}
//离心逻辑
bool is_use_cent = false;
foreach (var cent in cenMrg.CentrifugeMDevices)
{
if (resmanager.GetCenStatus(cent.Centrifugem.Code.SetValue))
{
//如果当前离心机在跑或已满卡就添加到下一个离心机中
is_use_cent = CenRunLogic(cent);
if (is_use_cent)
{
break; // 离心启动逻辑
}
}
}
if (is_use_cent == false)
{
//顺序执行
int inject_count = 1;
var inj_action_list_tem = inj_action_list.Where(item => ((ExperimentPackage)item.ExperPackage).is_jyjs == false).ToList();
if (inj_action_list_tem.Count != 0)
{
var action_tem = inj_action_list_tem[0];
var exp_pack = (ExperimentPackage)action_tem.ExperPackage;
var paper_seat = resmanager.GetResByCode(exp_pack.GetGelMask(), "T_BJ_GelSeat", "", "4");
var liquidinfo = action_tem.GetLiquidInfo();
inject_count = GetInjectCount();
//如果是加样试剂最多两个针头
if (liquidinfo != null && liquidinfo.IsAgentia && inject_count > 2)
{
inject_count = 2;
}
var inj_tree = generater.DivideIntoGroups(inj_action_list_tem, inject_count);
var act_group = inj_tree[0];
var act_group_next = inj_tree.Count > 1 ? inj_tree[1] : null;
ActLogic(act_group, act_group_next, dt);
}
}
//机器手空闲回零
if (actionmanager.getAllActionsCount(handDevice) == 0 && handDevice.Hand.XMotor.CurrentDistance != 0)
{
hand_wait_time += dt;
if (hand_wait_time > 1000)
{
var act = Sequence.create(MoveTo.create(handDevice, 10000, -1, -1, 0),
MoveTo.create(handDevice, 10000, 0, 0, 0),
InitXyz.create(10000, true, true, true));
act.runAction(handDevice);
hand_wait_time = 0;
}
}
//加样器空闲回零
if (actionmanager.getAllActionsCount(injectorDevice) == 0 && injectorDevice.Injector.XMotor.CurrentDistance != 0)
{
inj_wait_time += dt;
if (inj_wait_time > 1000)
{
var by = IMask.Gen(0);
foreach (var ent in injectorDevice.Injector.Entercloses)
{
by[ent.Index] = (int)ent.YZero;
}
var act = Sequence.create(
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.Injector.Entercloses, -1, IMask.Gen(-1), IMask.Gen(0)),
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.Injector.Entercloses, 0, IMask.Gen(0), IMask.Gen(-1)),
InitXyz.create(injectorDevice, 20000, injectorDevice.Injector.Entercloses, true, true, true, by));
act.runAction(injectorDevice);
inj_wait_time = 0;
}
}
else
{
inj_wait_time = 0;
}
}
//放卡到离心逻辑
public bool CenPutLogic(CentrifugeMDevice cendev)
{
if (resmanager.handseat_resinfo != null ||
actionmanager.getAllActionsCount(piercerDevice) != 0 ||
actionmanager.getAllActionsCount(handDevice) != 0 ||
actionmanager.getAllActionsCount(cendev) != 0)
{
return(false);
}
bool isallcen = true;//是否在离心机内的所有卡当前动作是离心
foreach (var seat in resmanager.centrifuge_list)
{
if (seat.Code == cendev.Centrifugem.Code.SetValue)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
isallcen = resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal;
if (isallcen == false)
{
break;
}
}
}
break;
}
}
//普通卡位
List <ResInfoData> resinfo_list = new List <ResInfoData>();
foreach (var seat in resmanager.gelseat_list)
{
for (int i = 0; i < seat.Values.Length; i++)
{
ResInfoData resinfo = (ResInfoData)seat.Values[i, 0];
if (resinfo != null && resinfo.InjectFinish && resinfo.PutOk)
{
if (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal)
{
resinfo_list.Add(resinfo);
}
}
}
}
//把卡转到离心位
if (resinfo_list.Count != 0)
{
var seque = Sequence.create();
bool is_put = false;
seque.AddAction(InitXyz.create(cendev, 30000, false, false, true));
foreach (var resinfo in resinfo_list)
{
var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue);
if (isallcen == false)
{
put_seat = null;
}
if (put_seat == null && resinfo.Purpose != "3")
{
put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3");
}
if (put_seat != null)
{
var put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque);
if (put_seat.Purpose == "lxj")
{
generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque);
}
else
{
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
}
is_put = true;
}
}
if (is_put)
{
seque.runAction(handDevice);
return(true);
}
}
return(false);
}
public void runLoop(double time)
{
double dt = time - lasttime;
if (dt < 500)
{
return;
}
lasttime = time;
//更新卡
UpdataResInfoList();
if (resinfo_list.Count == 0 && InjLogicManager.getInstance().action_tree.Count == 0)
{
return;
}
foreach (var resinfo in resinfo_list)
{
Logic(resinfo, dt);
}
////离心逻辑
foreach (var cent in cenMrg.CentrifugeMDevices)
{
//如果当前离心机在跑或已满卡就添加到下一个离心机中
if (CenRunLogic(cent))
{
return; // 离心启动逻辑
}
break;
}
//机器手空闲回零
if (actionmanager.getAllActionsCount(handDevice) == 0 && handDevice.Hand.XMotor.CurrentDistance != 0)
{
hand_wait_time += dt;
if (hand_wait_time > 1000)
{
var act = Sequence.create(MoveTo.create(handDevice, 10000, 0, 0, 0), InitXyz.create(20000, true, true, true));
act.runAction(handDevice);
hand_wait_time = 0;
}
}
}
public void Logic(double dt)
{
lock (mylock)
{
if (action_tree.Count == 0)
{
return;
}
//机器手空闲回零
if (actionmanager.getAllActionsCount(injectorDevice) == 0 && injectorDevice.Injector.XMotor.CurrentDistance != 0)
{
inj_wait_time += dt;
if (inj_wait_time > 1000)
{
var act = Sequence.create(
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)),
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.GetSeleteced(), 0, IMask.Gen(0), IMask.Gen(-1)),
InitXyz.create(injectorDevice, 10000, injectorDevice.GetSeleteced(), true, true, true));
act.runAction(injectorDevice);
inj_wait_time = 0;
}
}
var act_group = action_tree[0];
if (act_group.Count != 0 && act_group[0].State == 0)
{
var seque_act = Sequence.create();
AbstractCanDevice device = null;
if (act_group[0].InjectCount != 0)
{
foreach (var act_tem in act_group)
{
resmanager.tip_count += act_tem.InjectCount;
}
device = injectorDevice;
foreach (var act in act_group)
{
act.UpdataPoints();
}
seque_act = generater.GenerateAction(act_group);
}
else
{
foreach (var act in act_group)
{
act.UpdataPoints();
switch (act.StepClass)
{
case TestStepEnum.LoadGel:
{
device = handDevice;
var paper_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4");
//var ware_seat = resmanager.GetResByCode(act.GetGelMask(), "T_BJ_GelWarehouse");
seque_act.AddAction(HandTakeGelFromWare.create(handDevice, 3001, gelwareDevice, act.GelMaskID, act.GetGelMask(), act.SampleBarCode));
seque_act.AddAction(HandPutGelToNormal.create(handDevice, 3001, gelwareDevice, paper_seat));
}
break;
case TestStepEnum.KaiKongGel:
{
int handrx = 0;
var device_hand = new ActionDevice(handDevice);
var paper_seat = resmanager.GetResByCode(act.GetGelMask(), "T_BJ_GelSeat", "", "4");
if (paper_seat != null && device_hand.GetRealX(ref handrx) &&
(handrx + 1000) < paper_seat.X && ActionDevice.hand_tx < paper_seat.X)
{
device = piercerDevice;
seque_act.AddAction(PaperCard.create(piercerDevice, 3000, paper_seat));
seque_act.AddAction(SkCallBackFun.create((ActionBase acttem) => {
resmanager.gel_count++;
return(true);
}));
}
else
{
return;
}
}
break;
case TestStepEnum.JYJS:
{
device = injectorDevice;
//得到剩下动作
List <T_GelStep> act_list = new List <T_GelStep>();
foreach (var act_tem in action_tree)
{
if (act_tem.Count == 1 && act_tem[0].StepClass != TestStepEnum.GELEND)
{
act_tem[0].State = 2;
act_list.Add(act_tem[0]);
}
else
{
break;
}
}
act_list.Remove(act);
var actplist = ActionPoint.GenActList(act_list);
var paper_seat = resmanager.GetResByCode(act.GetGelMask(), "T_BJ_GelSeat", "", "4");
foreach (var actp in actplist)
{
paper_seat.ActionList.Add(actp.type);
if (actp.hatchtime != 0)
{
paper_seat.HatchTime = actp.hatchtime;
}
}
seque_act.AddAction(SkCallBackFun.create((ActionBase acttem) =>
{
paper_seat.InjectFinish = true;
return(true);
}));
}
break;
}
}
}
if (device != null)
{
seque_act.AddAction(SkCallBackFun.create((ActionBase act) =>
{
act_group[0].State = 2;
return(true);
}));
act_group[0].State = 1;
seque_act.runAction(device);
}
else
{
act_group[0].State = 2;
}
}
}
}