Esempio n. 1
0
        //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);
        }
Esempio n. 2
0
        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;
                    }
                }
            }
        }
Esempio n. 3
0
        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;
            }
        }
Esempio n. 4
0
        //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);
        }