//离心开始逻辑 public bool CenRunLogic(CentrifugeMDevice cendev) { bool is_allcenact = true; //是否全是离心动作 bool is_allputok = true; //是否全是已放好 bool is_empty = true; //是否为空 bool is_gelfull = false; //是否已满 bool is_gelsoon = false; //是否有卡快要离心 int gel_count = 0; List <ResInfoData> resinfo_list = new List <ResInfoData>(); 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) { is_empty = false; is_allcenact = is_allcenact && resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal; is_allputok = is_allputok && resinfo.PutOk; resinfo_list.Add(resinfo); gel_count++; } } is_gelfull = gel_count >= seat.Values.Length; } } if ((is_gelfull == false && actionmanager.getAllActionsCount(handDevice) != 0) || actionmanager.getAllActionsCount(cendev) != 0) { return(false); } //普通卡位是否有卡快要离心 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) { is_gelsoon = (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Centrifugal) || (resinfo.GetActionAt(0) == ActionPoint.ActionPointType.Hatch && resinfo.GetActionAt(1) == ActionPoint.ActionPointType.Centrifugal && resinfo.HatchTime - resinfo.HatchCurTime <= 20000); if (seat.Purpose == 4 && resinfo.FindAct(ActionPoint.ActionPointType.Centrifugal) && resinfo.FindAct(ActionPoint.ActionPointType.Hatch) == false) { is_gelsoon = true; } if (is_gelsoon) { break; } } } if (is_gelsoon) { break; } } //检测是否满足运行条件 if (is_allcenact && is_allputok && !is_empty && (!is_gelsoon || is_gelfull)) { int hspeed = (int)cendev.Centrifugem.HightSpeed.SetValue; int lspeed = (int)cendev.Centrifugem.LowSpeed.SetValue; int htime = (int)cendev.Centrifugem.HightSpeedTime.SetValue; int ltime = (int)cendev.Centrifugem.LowSpeedTime.SetValue; int uphtime = (int)cendev.Centrifugem.AddHSpeedTime.SetValue; int upltime = (int)cendev.Centrifugem.AddLSpeedTime.SetValue; int stime = (int)cendev.Centrifugem.StopSpeedTime.SetValue; //配平卡动作(如果离心机内卡是单数就再放一张配平卡) var seque_pei = Sequence.create(); var seque = Sequence.create(); if (resinfo_list.Count() % 2 != 0) { var spaw = Spawn.create(); var put_seque = Sequence.create(); //得到配平卡 var pei_gel = resmanager.GetResByCode("pei" + cendev.Centrifugem.Code.SetValue, "T_BJ_GelSeat"); var put_gel = generater.GenerateTakeGelFromNormal(pei_gel, ref put_seque); put_gel.ActionList.Add(ActionPointType.Centrifugal); put_gel.ActionList.Add(ActionPointType.PutPeiGelBack); put_gel.InjectFinish = true; resinfo_list.Add(put_gel); var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue); spaw.AddAction(put_seque); spaw.AddAction(MoveTo.create(cendev, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX])); seque_pei.AddAction(spaw); generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque_pei); } seque_pei.AddAction(HandOpenCloseDoor.create(handDevice, 5000, cendev.Centrifugem.Code.SetValue, false)); seque.AddAction(SkWaitForAction.create(handDevice, seque_pei)); seque.AddAction(CentrifugeStart.create(cendev, 300000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime)); seque.AddAction(SkCallBackFun.create((ActionBase acttem) => { foreach (var resinfo in resinfo_list) { if (resinfo.InjectFinish) { resinfo.RemoveActionAt(0); } } return(true); })); seque_pei.runAction(handDevice); seque.runAction(cendev); return(true); } return(false); }
public void ActLogic(List <T_GelStep> act_group, List <T_GelStep> act_group_next, double dt) { if (act_group != null && act_group.Count != 0 && act_group[0].State == 0) { int next_state = 2; var seque_act = Sequence.create(); var exper_package = ((ExperimentPackage)act_group[0].ExperPackage); seque_act.exp_pack = exper_package; AbstractCanDevice device = null; foreach (var act in act_group) { resmanager.tip_count += act.InjectCount; } if (act_group[0].InjectCount != 0) { device = injectorDevice; act_group.Sort((a, b) => { return(((ExperimentPackage)a.ExperPackage).piercer_index > ((ExperimentPackage)b.ExperPackage).piercer_index ? 1 : -1); }); seque_act = generater.GenerateAction(act_group); } else { var act = act_group[0]; var act_next = act_group_next == null ? null : act_group_next[0]; var resinfo = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat"); if (resinfo == null) { resinfo = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_Centrifuge"); } if ((resinfo == null || !resinfo.PutOk) && act.StepClass != TestStepEnum.LoadGel) { return; } switch (act.StepClass) { case TestStepEnum.LoadGel: { var take_seat = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat", "", "3"); var paper_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4"); if (paper_seat != null) { device = handDevice; if (take_seat != null) { generater.GenerateTakeGelFromNormal(take_seat, ref seque_act); } else { seque_act.AddAction(HandTakeGelFromWare.create(handDevice, 3001, gelwareDevice, exper_package.gel_mask_id, exper_package.GetGelMask(), exper_package.GetSampleCode(act.SampleIndex))); } seque_act.AddAction(HandPutGelToNormal.create(handDevice, 3001, gelwareDevice, paper_seat)); if (act_next != null && act_next.StepClass != TestStepEnum.LoadGel) { seque_act.AddAction(SkCallBackFun.create((ActionBase act_tem) => { hand_wait_time = 999999; var ware_act = MoveTo.create(gelwareDevice, 3000, 0); ware_act.runAction(gelwareDevice); return(true); })); } exper_package.piercer_index = paper_seat.CountX; paper_seat.Values[paper_seat.CountX, 0] = new ResInfoData(); seque_act.destroyfun = (ActionBase act_tem) => { paper_seat.Values[paper_seat.CountX, 0] = null; return(true); }; next_state = 2; } else { next_state = 0; } } break; case TestStepEnum.KaiKongGel: { int handrx = 0; int injrx = 0; var device_hand = new ActionDevice(handDevice); var device_inj = new ActionDevice(injectorDevice); next_state = 0; if (resinfo.Purpose != "4") { var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4"); if (put_seat == null && resinfo.Purpose != "3") { put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3"); } if (put_seat != null) { device = handDevice; ResInfoData put_gel = null; if (resinfo.Purpose == "lxj") { put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act); } else { put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act); } generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act); next_state = 0; } } else { bool is_next_kaikong = act_next != null ? act_next.StepClass == TestStepEnum.KaiKongGel : false; var paper_seat = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat", "", "4"); int yb = is_next_kaikong ? -1 : 0; if (paper_seat != null && device_hand.GetRealX(ref handrx) && (handrx + 1000) < paper_seat.X && ActionDevice.hand_tx < paper_seat.X && device_inj.GetRealX(ref injrx) && (injrx + 1000) < paper_seat.InjectorX && ActionDevice.inj_tx < paper_seat.InjectorX + 1000) { device = piercerDevice; seque_act.AddAction(PaperCard.create(piercerDevice, 3000, paper_seat, yb)); seque_act.AddAction(SkCallBackFun.create((ActionBase acttem) => { exper_package.is_open = true; resmanager.gel_count++; return(true); })); next_state = 2; } } } break; case TestStepEnum.JYJS: { exper_package.is_jyjs = true; next_state = 2; } break; case TestStepEnum.ZKDFY: { next_state = 0; if (resinfo.Purpose == "1") { next_state = 0; exper_package.hatch_cur_time += dt; if (exper_package.hatch_cur_time >= exper_package.hatch_time) { next_state = 2; } } else if (!(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0)) { var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "1"); if (put_seat == null && resinfo.Purpose != "3") { put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3"); } if (put_seat != null) { device = handDevice; ResInfoData put_gel = null; if (resinfo.Purpose == "lxj") { put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act); } else { put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act); } exper_package.hatch_cur_time = 0; generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act); next_state = 0; } } } break; case TestStepEnum.ZKDLXJ: { next_state = 0; if (resinfo.Purpose != "lxj" && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0)) { foreach (var seat in resmanager.centrifuge_list) { CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(seat.Code); if (seat.Status == 1 && cendev != null) { device = handDevice; bool iscanputcen = IsCanPutCen(cendev); var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue); if (iscanputcen == 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 spaw = Spawn.create(); var put_seque = Sequence.create(); if (put_seat.Purpose == "lxj") { //打开离心机门 var opendoor_act = HandOpenCloseDoor.create(handDevice, 5000, cendev.Centrifugem.Code.SetValue, true); put_seque.AddAction(opendoor_act); } var put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref put_seque); spaw.AddAction(put_seque); seque_act.AddAction(spaw); if (put_seat.Purpose == "lxj") { spaw.AddAction(MoveTo.create(cendev, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX])); generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque_act); } else { generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act); } break; } } } } } break; case TestStepEnum.PutPeiGelBack: { var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "2"); if (put_seat != null && resinfo.Purpose == "lxj") { device = handDevice; var put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act); generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque_act); next_state = 2; } } break; case TestStepEnum.XJPD: { var put_seat = resmanager.GetResByCode("", "T_BJ_Camera"); //相机位 var wasted_seat = resmanager.GetResByCode("", "T_BJ_WastedSeat", "", "1"); //垃圾位 var daiding_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3"); //待定位 if (put_seat != null && wasted_seat != null && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0)) { device = handDevice; ResInfoData put_gel = null; if (resinfo.Purpose == "lxj") { put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act); } else { put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act); } seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0)); seque_act.AddAction(MoveTo.create(handDevice, 3000, (int)put_seat.X, (int)(put_seat.Y), -1)); seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, (int)(put_seat.Z))); //拍照分析 seque_act.AddAction(SkCallBackFun.create((ActionBase acttem) => { opDevice.CameraLight(true); bool result = true; if (cameraDevice.IsOpen == false) { result = cameraDevice.Open(); } var bm = cameraDevice.CaptureImage(); cameraDevice.Save(bm, exper_package); opDevice.CameraLight(false); return(true); })); //是否还有动作 if (exper_package.action_list.Count > 1 && daiding_seat != null) { seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0)); generater.GeneratePutGelToNormal(daiding_seat, put_gel, ref seque_act); } else { seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0)); seque_act.AddAction(MoveTo.create(handDevice, 3000, (int)wasted_seat.X, (int)(wasted_seat.Y))); seque_act.AddAction(HandPutCard.create(handDevice, 3000, (int)wasted_seat.ZPut, 0)); } next_state = 2; } } break; case TestStepEnum.ECONOMIZECOUNTTIME: { next_state = 0; if (exper_package.is_open) { exper_package.after_kktime -= dt; if (exper_package.after_kktime <= 0) { device = handDevice; next_state = 2; exper_package.after_kktime = 0; ResInfoData put_gel = null; if (resinfo.Purpose == "lxj") { put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque_act); } else { put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque_act); } var wasted_seat = resmanager.GetResByCode("", "T_BJ_WastedSeat"); //垃圾位 seque_act.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0)); seque_act.AddAction(MoveTo.create(handDevice, 3000, (int)wasted_seat.X, (int)(wasted_seat.Y))); seque_act.AddAction(HandPutCard.create(handDevice, 3000, (int)wasted_seat.ZPut, 0)); } } } break; } } if (device != null) { seque_act.AddAction(SkCallBackFun.create((ActionBase act) => { foreach (var act_tem in act_group) { act_tem.State = next_state; } return(true); })); foreach (var act_tem in act_group) { act_tem.State = 1; } seque_act.runAction(device); } else { foreach (var act_tem in act_group) { act_tem.State = next_state; } } } }
public void Logic(ResInfoData resinfo, double dt) { switch (resinfo.GetActionAt(0)) { case ActionPointType.Hatch: { if (resinfo.Purpose == "1") { resinfo.HatchCurTime += dt; if (resinfo.HatchCurTime >= resinfo.HatchTime) { resinfo.RemoveActionAt(0); } } else if (!(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0)) { var seque = Sequence.create(); var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "1"); if (put_seat == null && resinfo.Purpose != "3") { put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "3"); } if (put_seat != null) { ResInfoData put_gel = null; if (resinfo.Purpose == "lxj") { //CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(resinfo.CenCode); //seque.AddAction(MoveTo.create(cendev, 30000, -1, -1, 0)); //seque.AddAction(InitXyz.create(cendev, 30000, false, false, true)); put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque); } else { put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque); } put_gel.HatchCurTime = 0; generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque); seque.runAction(handDevice); } } } break; case ActionPointType.Centrifugal: { if (resinfo.Purpose != "lxj" && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0)) { foreach (var seat in resmanager.centrifuge_list) { CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(seat.Code); if (seat.Status == 1 && cendev != null) { bool iscanputcen = IsCanPutCen(cendev); var seque = Sequence.create(); var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue); if (iscanputcen == 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 spaw = Spawn.create(); var put_seque = Sequence.create(); var put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref put_seque); spaw.AddAction(put_seque); seque.AddAction(spaw); if (put_seat.Purpose == "lxj") { spaw.AddAction(MoveTo.create(cendev, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX])); generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque); } else { generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque); } seque.runAction(handDevice); break; } } } } } break; case ActionPointType.PutPeiGelBack: { var seque = Sequence.create(); var put_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "2"); if (put_seat != null && resinfo.Purpose == "lxj") { //CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(resinfo.CenCode); //seque.AddAction(MoveTo.create(cendev, 30000, -1, -1, 0)); //seque.AddAction(InitXyz.create(cendev, 30000, false, false, true)); var put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque); generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque); seque.AddAction(SkCallBackFun.create((ActionBase acttem) => { resinfo.RemoveActionAt(0); return(true); })); seque.runAction(handDevice); } } break; case ActionPointType.Camera: { var seque = Sequence.create(); var put_seat = resmanager.GetResByCode("", "T_BJ_Camera"); var wasted_seat = resmanager.GetResByCode("", "T_BJ_WastedSeat"); if (put_seat != null && wasted_seat != null && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0)) { ResInfoData put_gel = null; if (resinfo.Purpose == "lxj") { //CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(resinfo.CenCode); //seque.AddAction(MoveTo.create(cendev, 30000, -1, -1, 0)); //seque.AddAction(InitXyz.create(cendev, 30000, false, false, true)); put_gel = generater.GenerateTakeGelFromCent(resinfo, resinfo.CenCode, ref seque); } else { put_gel = generater.GenerateTakeGelFromNormal(resinfo, ref seque); } seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0)); seque.AddAction(MoveTo.create(handDevice, 3000, (int)put_seat.X, (int)(put_seat.Y), -1)); seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, (int)(put_seat.Z))); //拍照分析 seque.AddAction(SkCallBackFun.create((ActionBase acttem) => { bool result = true; if (cameraDevice.IsOpen == false) { result = cameraDevice.Open(); } var bm = cameraDevice.CaptureImage(); var bag = new TestBag(Common.Enums.TestLevelEnum.Normal); var gel = new Gel(resinfo.GetGelMask()); bag.GelType = resinfo.gel; bag.Add(resinfo.GetSampleBarcode(), (byte)resinfo.GetSampleRackIndex(), (byte)resinfo.CountX); bag.SetStartTime(resinfo.StartTime); gel.SampleBarcodes.Add(resinfo.GetSampleBarcode()); cameraDevice.Save(bag, gel, bm, "888"); //cameraDevice.Close(); put_gel.RemoveActionAt(0); return(true); })); seque.AddAction(MoveTo.create(handDevice, 3000, (int)wasted_seat.X, (int)(wasted_seat.Y))); seque.AddAction(HandPutCard.create(handDevice, 3000, (int)wasted_seat.ZPut, 0)); seque.runAction(handDevice); } } break; } }
//离心开始逻辑 public bool CenRunLogic(CentrifugeMDevice cendev) { bool is_allcenact = true; //是否全是离心动作 bool is_allputok = true; //是否全是已放好 bool is_empty = true; //是否为空 bool is_gelfull = false; //是否已满 bool is_gelsoon = false; //是否有卡快要离心 int gel_count = 0; List <ResInfoData> resinfo_list = new List <ResInfoData>(); 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.PutOk) { is_empty = false; var exp_pack = GetExpPackageByMask(resinfo.GetGelMask()); if (exp_pack == null) { exp_pack = GetExpPackageByMask(resinfo.GetCodeAt(0)); } is_allcenact = is_allcenact && exp_pack.GetActionTypeAt(0) == TestStepEnum.ZKDLXJ; is_allputok = is_allputok && resinfo.PutOk; resinfo_list.Add(resinfo); gel_count++; } } is_gelfull = gel_count >= seat.Values.Length; } } if ((is_gelfull == false && actionmanager.getAllActionsCount(handDevice) != 0) || actionmanager.getAllActionsCount(cendev) != 0) { return(false); } //普通卡位是否有卡快要离心 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.PutOk && resinfo.FindCode("pei*", false) == false) { var exp_pack = GetExpPackageByMask(resinfo.GetGelMask()); if (exp_pack == null) { continue; } is_gelsoon = (exp_pack.GetActionTypeAt(0) == TestStepEnum.ZKDLXJ) || (exp_pack.GetActionTypeAt(0) == TestStepEnum.ZKDFY && exp_pack.GetActionTypeAt(1) == TestStepEnum.ZKDLXJ && exp_pack.hatch_time - exp_pack.hatch_cur_time <= 20000); if (seat.Purpose == 4 && exp_pack.FindAct(TestStepEnum.ZKDLXJ) && exp_pack.FindAct(TestStepEnum.ZKDFY) == false) { is_gelsoon = true; } if (is_gelsoon) { break; } } } if (is_gelsoon) { break; } } //检测是否满足运行条件 if (is_allcenact && is_allputok && !is_empty && (!is_gelsoon || is_gelfull)) { int hspeed = (int)cendev.Centrifugem.HightSpeed.SetValue; int lspeed = (int)cendev.Centrifugem.LowSpeed.SetValue; int htime = (int)cendev.Centrifugem.HightSpeedTime.SetValue; int ltime = (int)cendev.Centrifugem.LowSpeedTime.SetValue; int uphtime = (int)cendev.Centrifugem.AddHSpeedTime.SetValue; int upltime = (int)cendev.Centrifugem.AddLSpeedTime.SetValue; int stime = (int)cendev.Centrifugem.StopSpeedTime.SetValue; //配平卡动作(如果离心机内卡是单数就再放一张配平卡) var seque_pei = Sequence.create(); var seque = Sequence.create(); if (resinfo_list.Count() % 2 != 0) { var spaw = Spawn.create(); var put_seque = Sequence.create(); //得到配平卡 var pei_gel = resmanager.GetResByCode("pei" + cendev.Centrifugem.Code.SetValue, "T_BJ_GelSeat"); var put_gel = generater.GenerateTakeGelFromNormal(pei_gel, ref put_seque); T_GelStep[] pei_step = { new T_GelStep(), new T_GelStep() }; pei_step[0].StepClass = TestStepEnum.ZKDLXJ; pei_step[1].StepClass = TestStepEnum.PutPeiGelBack; var exp_pack = ExperimentPackage.Create(pei_step.ToList(), pei_gel.GetCodeAt(0), "123", 8, 0, 1, 0, false); exp_pack.is_jyjs = true; experiment_package_list.Add(exp_pack); resinfo_list.Add(put_gel); var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue); spaw.AddAction(put_seque); spaw.AddAction(MoveTo.create(cendev, 30001, -1, -1, put_seat.CenGelP[put_seat.CountX])); seque_pei.AddAction(spaw); generater.GeneratePutGelToCent(cendev.Centrifugem.Code.SetValue, put_seat, put_gel, ref seque_pei); } seque_pei.AddAction(HandOpenCloseDoor.create(handDevice, 5000, cendev.Centrifugem.Code.SetValue, false)); seque.AddAction(SkWaitForAction.create(handDevice, seque_pei)); seque.AddAction(CentrifugeStart.create(cendev, 300000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime)); seque.AddAction(SkCallBackFun.create((ActionBase acttem) => { foreach (var resinfo in resinfo_list) { var exp_pack = GetExpPackageByMask(resinfo.GetGelMask()); if (exp_pack == null) { exp_pack = GetExpPackageByMask(resinfo.GetCodeAt(0)); } System.Diagnostics.Debug.Assert(exp_pack != null); var act = exp_pack.GetActionAt(0); act.State = 2; } return(true); })); seque_pei.runAction(handDevice); seque.runAction(cendev); return(true); } return(false); }