public static InjLogicManager getInstance()
{
if (injlogicmanager == null)
{
injlogicmanager = new InjLogicManager();
}
return(injlogicmanager);
}
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;
}
}
}
