public void runAction(AbstractCanDevice nodetem)
{
node = nodetem;
init();
start_time = DateTime.Now.ToString();
ActionManager.getInstance().addAction(this);
}
public static Repeat create(AbstractCanDevice nodetem, Action action, int ttimes)
{
Repeat acttem = Repeat.create(action, ttimes);
acttem.node = nodetem;
return(acttem);
}
public bool GetRealY(AbstractCanDevice node_tem, ref int y)
{
bool ret = true;
if (node_tem is MachineHandDevice)
{
var device = (MachineHandDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Hand.YMotor.RealDistance.Addr);
y = device.CanComm.GetInt(device.Hand.YMotor.RealDistance.Addr, 0);
y = Convert.ToInt32(y / Convert.ToDecimal(device.Hand.YMotor.Factor.SetValue));
}
else if (node_tem is InjectorDevice)
{
var device = (InjectorDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Injector.TMotor.RealDistance.Addr);
y = device.CanComm.GetInt(device.Injector.TMotor.RealDistance.Addr, 0);
y = Convert.ToInt32(y / Convert.ToDecimal(device.Injector.TMotor.Factor.SetValue));
}
else if (node_tem is PiercerDevice)
{
var device = (PiercerDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Pie.YMotor.RealDistance.Addr);
y = device.CanComm.GetInt(device.Pie.YMotor.RealDistance.Addr, 0);
y = Convert.ToInt32(y / Convert.ToDecimal(device.Pie.YMotor.Factor.SetValue));
}
return(ret);
}
public static MoveTo create(AbstractCanDevice nodetem, double ttime = 0, int xx = -1, int yy = -1, int zz = -1)
{
MoveTo acttem = create(ttime, xx, yy, zz);
acttem.node = nodetem;
return(acttem);
}
public static InitInjectPump create(AbstractCanDevice nodetem, double ttime, Enterclose[] iinjects)
{
InitInjectPump acttem = InitInjectPump.create(ttime, iinjects);
acttem.node = nodetem;
return(acttem);
}
public static InjectMoveTo create(AbstractCanDevice nodetem, double ttime, int [] yy)
{
InjectMoveTo acttem = InjectMoveTo.create(ttime, yy);
acttem.node = nodetem;
return(acttem);
}
public static InjectMoveTo create(AbstractCanDevice nodetem, double ttime, Enterclose[] iinjects, int xx, int [] yy, int[] zz, int sspeed = 0)
{
InjectMoveTo acttem = InjectMoveTo.create(ttime, iinjects, xx, yy, zz, sspeed);
acttem.node = nodetem;
return(acttem);
}
public static Sequence create(AbstractCanDevice nodetem, params Action[] actions)
{
Sequence acttem = Sequence.create(actions);
acttem.node = nodetem;
return(acttem);
}
public void getAllRuningAct(AbstractCanDevice nodetem, ref List <ActionBase> action_list)
{
bool is_cok = (this is Sequence == false) && (this is Spawn == false) && (this is Repeat == false) && (this is SKSleep == false);
if (is_cok && this.isinit && this.isfinish == false && node == nodetem)
{
action_list.Add(this);
}
if (this is Sequence seq)
{
foreach (var act in seq.actionlist)
{
act.getAllRuningAct(nodetem, ref action_list);
}
}
else if (this is Spawn spa)
{
foreach (var act in spa.actionlist)
{
act.getAllRuningAct(nodetem, ref action_list);
}
}
else if (this is Repeat rep)
{
rep.repeat_action.getAllRuningAct(nodetem, ref action_list);
}
}
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 int getAllRuningActCount(AbstractCanDevice nodetem)
{
List <ActionBase> action_list = new List <ActionBase>();
getAllRuningAct(nodetem, ref action_list);
return(action_list.Count);
}
public static SkWaitForAction create(AbstractCanDevice nodetem, ActionBase aaction)
{
SkWaitForAction acttem = SkWaitForAction.create(aaction);
acttem.node = nodetem;
return(acttem);
}
public int getAllActionsCount(AbstractCanDevice node, ActionBase act = null)
{
List <ActionBase> action_list = getActionCount(node);
action_list.Remove(act);
return(action_list.Count());
}
public bool GetRealPump(AbstractCanDevice node_tem, Enterclose[] injects, ref int[] pump)
{
bool ret = true;
if (node_tem is InjectorDevice)
{
var device = (InjectorDevice)node_tem;
foreach (var inject in injects)
{
ret = ret && device.CanComm.ReadRegister(inject.PumpMotor.RealDistance.Addr);
if (inject.PumpMotor.Factor.SetValue <= 0)
{
ErrorSystem.WriteActError("加样通道:" + inject.Index + "校正因子不可为0", true, false, 9999);
return(false);
}
if (ret)
{
pump[inject.Index] = (int)device.CanComm.GetInt(inject.PumpMotor.RealDistance.Addr, 0);
pump[inject.Index] = Convert.ToInt32(pump[inject.Index] / Convert.ToDecimal(inject.PumpMotor.Factor.SetValue));
}
else
{
break;
}
}
}
return(ret);
}
public static InjectAbsorbMove create(AbstractCanDevice nodetem, double ttime, Enterclose[] iinjects, int sspeed, params int[] aabsorbs)
{
InjectAbsorbMove acttem = InjectAbsorbMove.create(ttime, iinjects, sspeed, aabsorbs);
acttem.node = nodetem;
return(acttem);
}
public bool GetRealX(AbstractCanDevice node_tem, ref int x)
{
bool ret = true;
if (node_tem is MachineHandDevice)
{
var device = (MachineHandDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Hand.XMotor.RealDistance.Addr);
x = device.CanComm.GetInt(device.Hand.XMotor.RealDistance.Addr, 0);
x = Convert.ToInt32(x / Convert.ToDecimal(device.Hand.XMotor.Factor.SetValue));
}
else if (node_tem is InjectorDevice)
{
var device = (InjectorDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Injector.XMotor.RealDistance.Addr);
x = device.CanComm.GetInt(device.Injector.XMotor.RealDistance.Addr, 0);
x = Convert.ToInt32(x / Convert.ToDecimal(device.Injector.XMotor.Factor.SetValue));
}
else if (node_tem is GelWarehouseDevice)
{
var device = (GelWarehouseDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.GelWare.XMotor.RealDistance.Addr);
x = device.CanComm.GetInt(device.GelWare.XMotor.RealDistance.Addr, 0);
x = Convert.ToInt32(x / Convert.ToDecimal(device.GelWare.XMotor.Factor.SetValue));
}
else if (node_tem is OtherPartDevice)
{
var device = (OtherPartDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.OP.ScanMotor.RealDistance.Addr);
x = device.CanComm.GetInt(device.OP.ScanMotor.RealDistance.Addr, 0);
x = Convert.ToInt32(x / Convert.ToDecimal(device.OP.ScanMotor.Factor.SetValue));
}
return(ret);
}
public bool findDevInOccList(AbstractCanDevice device)
{
foreach (var dev in occupydev_list)
{
if (device != null && dev == device)
{
return(true);
}
}
return(false);
}
public bool GetRealZ(AbstractCanDevice node_tem, Enterclose[] injects, ref int[] z)
{
bool ret = true;
if (node_tem is InjectorDevice)
{
var device = (InjectorDevice)node_tem;
foreach (var inject in injects)
{
ret = ret && device.CanComm.ReadRegister(inject.ZMotor.RealDistance.Addr);
z[inject.Index] = device.CanComm.GetInt(inject.ZMotor.RealDistance.Addr, 0);
z[inject.Index] = Convert.ToInt32(z[inject.Index] / Convert.ToDecimal(inject.ZMotor.Factor.SetValue));
}
}
return(ret);
}
public bool GetRealY(AbstractCanDevice node_tem, Enterclose[] injects, ref int[] y)
{
bool ret = true;
System.Diagnostics.Debug.Assert(y.Count() == 4);
if (node_tem is InjectorDevice)
{
var device = (InjectorDevice)node_tem;
foreach (var inject in injects)
{
ret = ret && device.CanComm.ReadRegister(inject.YMotor.RealDistance.Addr);
y[inject.Index] = device.CanComm.GetInt(inject.YMotor.RealDistance.Addr, 0);
y[inject.Index] = Convert.ToInt32(y[inject.Index] / Convert.ToDecimal(inject.YMotor.Factor.SetValue));
}
}
return(ret);
}
public List <ActionBase> getAllActions(AbstractCanDevice node)
{
List <ActionBase> action_listret = new List <ActionBase>();
var action_list = getActions(node);
lock (lockObj)
{
foreach (var act in action_list)
{
if (act.isInit())
{
if (act.node == node)
{
action_listret.Add(act);
}
}
}
}
return(action_listret);
}
public List <ActionBase> getActionCount(AbstractCanDevice node)
{
List <ActionBase> action_listret = new List <ActionBase>();
var action_list = getActions(node);
lock (lockObj)
{
foreach (var act in action_list)
{
if (act.getIsStop() == false)
{
List <ActionBase> action_listtem = new List <ActionBase>();
act.getAllAct(node, ref action_listtem);
if (action_listtem.Count != 0)
{
action_listret.Add(act);
}
}
}
}
return(action_listret);
}
public bool GetRealZ(AbstractCanDevice node_tem, ref int z)
{
bool ret = true;
if (node_tem is MachineHandDevice)
{
var device = (MachineHandDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Hand.ZMotor.RealDistance.Addr);
z = device.CanComm.GetInt(device.Hand.ZMotor.RealDistance.Addr, 0);
z = Convert.ToInt32(z / Convert.ToDecimal(device.Hand.ZMotor.Factor.SetValue));
}
else if (node_tem is InjectorDevice)
{
System.Diagnostics.Debug.Assert(false);
}
else if (node_tem is PiercerDevice)
{
var device = (PiercerDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Pie.ZMotor.RealDistance.Addr);
z = device.CanComm.GetInt(device.Pie.ZMotor.RealDistance.Addr, 0);
z = Convert.ToInt32(z / Convert.ToDecimal(device.Pie.ZMotor.Factor.SetValue));
}
else if (node_tem is CentrifugeMDevice)
{
var device = (CentrifugeMDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.Centrifugem.Motor.RealDistance.Addr);
z = device.CanComm.GetInt(device.Centrifugem.Motor.RealDistance.Addr, 0);
z = Convert.ToInt32(z / Convert.ToDecimal(device.Centrifugem.Motor.Factor.SetValue));
}
else if (node_tem is CouveuseMixerDevice)
{
var device = (CouveuseMixerDevice)node_tem;
ret = ret && device.CanComm.ReadRegister(device.CouMixer.Mixer.RealDistance.Addr);
z = device.CanComm.GetInt(device.CouMixer.Mixer.RealDistance.Addr, 0);
z = Convert.ToInt32(z / Convert.ToDecimal(device.CouMixer.Mixer.Factor.SetValue));
}
return(ret);
}
public List <ActionBase> getActions(AbstractCanDevice node)
{
List <ActionBase> actionlisttem = new List <ActionBase>();
lock (lockObj)
{
for (int i = 0; i < actionlist.Count; i++)
{
if (actionlist[i].node == node)
{
actionlisttem.Add(actionlist[i]);
}
}
for (int i = 0; i < actiontemlist.Count; i++)
{
if (actiontemlist[i].node == node)
{
actionlisttem.Add(actiontemlist[i]);
}
}
}
return(actionlisttem);
}
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;
}
}
}
}
public void runAction(AbstractCanDevice nodetem)
{
node = nodetem;
runAction();
}
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;
}
}
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)
{
var act_next = act_group_next == null ? null : act_group_next[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);
if (act_next != null && act_next.InjectCount == 0)
{
seque_act.AddAction(SkCallBackFun.create((ActionBase act_tem) =>
{
inj_wait_time = 9999;
return(true);
}));
}
}
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:
{
if (actionmanager.getAllActionsCount(handDevice) == 0)
{
var take_seat = resmanager.GetResByCode(exper_package.GetGelMask(), "T_BJ_GelSeat", "", "3");
var paper_seat = resmanager.GetResByCode("null", "T_BJ_GelSeat", "", "4", null, exper_package.is_crossmatching);
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;
}
}
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;
}
else
{
next_state = 0;
}
}
}
break;
case TestStepEnum.ZKDLXJ:
{
if (actionmanager.getAllActionsCount(handDevice) == 0)
{
next_state = 0;
if (resinfo.Purpose != "lxj" && !(resinfo.Purpose == "4" && actionmanager.getAllActionsCount(piercerDevice) != 0))
{
//查看可用离心机
var centrifuge_list = resmanager.centrifuge_list.Where(item => item.Status == 1).ToList();
centrifuge_list.Sort((a, b) => { return(a.LastUseTime < b.LastUseTime ? 1 : -1); });
foreach (var seat in centrifuge_list)
{
CentrifugeMDevice cendev = cenMrg.GetCentrifugeByCode(seat.Code);
if (seat.Status == 1 && cendev != null)
{
device = handDevice;
bool is_last_cent = seat == centrifuge_list[centrifuge_list.Count - 1];
bool iscanputcen = IsCanPutCen(cendev);
var put_seat = resmanager.GetResByCode("null", "T_BJ_Centrifuge", cendev.Centrifugem.Code.SetValue);
if (iscanputcen == false)
{
put_seat = null;
}
//放进待定位
if (put_seat == null && resinfo.Purpose != "3" && is_last_cent)
{
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);
}
seat.LastUseTime = Engine.getInstance().getSystemMs();
break;
}
else
{
next_state = 0;
}
}
}
}
}
else
{
next_state = 0;
}
}
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));
seque_act.AddAction(SkCallBackFun.create((ActionBase act_tem) => {
DelPackage(exper_package);
return(true);
}));
}
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;
}
}
}
}
private bool RunLogic(IList <T_LogicStep> steps, out String msg)
{
msg = null;
var seque_root = Sequence.create();
var seque = Sequence.create();
var resmanager = ResManager.getInstance();
var generater = ActionGenerater.getInstance();
int loop_times = 0;
foreach (var step in steps)
{
switch (step.StepEnum)
{
case LogicStepEnum.Alert:
seque.AddAction(SkCallBackFun.create((ActionBase act_tem) =>
{
ErrorSystem.WriteActError(step.Parameters, true, false, 9999);
return(true);
}));
break;
case LogicStepEnum.InitAll:
var act_init = opDevice.InitAllDevice();
seque.AddAction(act_init);
break;
case LogicStepEnum.Centrifuge:
{
CommonAction action = Convert2T <CommonAction>(step.Parameters);
var cen = cenMrg.GetCentrifugeByCode(action.Code);
if (cen != null)
{
if (action.DoAction == 0) //正常离心程序
{
int hspeed = (int)cen.Centrifugem.HightSpeed.SetValue;
int lspeed = (int)cen.Centrifugem.LowSpeed.SetValue;
int htime = (int)cen.Centrifugem.HightSpeedTime.SetValue;
int ltime = (int)cen.Centrifugem.LowSpeedTime.SetValue;
int uphtime = (int)cen.Centrifugem.AddHSpeedTime.SetValue;
int upltime = (int)cen.Centrifugem.AddLSpeedTime.SetValue;
int stime = (int)cen.Centrifugem.StopSpeedTime.SetValue;
var act = CentrifugeStart.create(cen, 3000000, hspeed, lspeed, htime, ltime, uphtime, upltime, stime);
seque.AddAction(act);
}
else if (action.DoAction == 1) //移动指定卡位
{
var resinfo = ResManager.getInstance().SearchGelCard("T_BJ_Centrifuge", action.Code, "", (int)action.SeatIndex);
var act = MoveTo.create(cen, 30000, -1, -1, resinfo.CenGelP[resinfo.CountX], 5);
seque.AddAction(act);
}
else if (action.DoAction == 2) //开舱门
{
var act = HandOpenCloseDoor.create(handDevice, 3000, action.Code, true);
seque.AddAction(act);
}
else if (action.DoAction == 3) //关舱门
{
var act = HandOpenCloseDoor.create(handDevice, 3000, action.Code, false);
seque.AddAction(act);
}
else if (action.DoAction == 4) //初始化
{
var act = InitXyz.create(cen, 3000, false, false, true);
seque.AddAction(act);
}
}
else
{
ErrorSystem.WriteActError("找不到指定离心机", true, false, 9999);
}
}
break;
case LogicStepEnum.Couveuse:
{
}
break;
case LogicStepEnum.Delay:
{
int DelayTime = Convert.ToInt32(step.Parameters);
seque.AddAction(SKSleep.create(DelayTime));
}
break;
case LogicStepEnum.DetectSquid:
{
DetectAction action = Convert2T <DetectAction>(step.Parameters);
List <Enterclose> iinjects = new List <Enterclose>();
foreach (var entindex in action.Indexs)
{
iinjects.Add(injDevice.Injector.Entercloses[entindex]);
}
seque.AddAction(InjectDetector.create(3000, iinjects.ToArray(), IMask.Gen((int)action.Start), IMask.Gen((int)action.ZLimit), IMask.Gen(0)));
}
break;
case LogicStepEnum.SimpleAction:
{
SimpleAction action = Convert2T <SimpleAction>(step.Parameters);
AbstractCanDevice device = null;
switch (action.Device)
{
case "加样器":
device = injDevice;
break;
case "机械手":
device = handDevice;
break;
case "卡仓":
device = gelwareDevice;
break;
case "破孔器":
device = gelwareDevice;
break;
}
if (action.Action == "移动")
{
ActionBase act_move = null;
int x = action.Direction == "X" ? (int)action.Value : -1;
int y = action.Direction == "Y" ? (int)action.Value : -1;
int z = action.Direction == "Z"? (int)action.Value:-1;
if (action.Direction == "XYZ")
{
x = y = z = (int)action.Value;
}
if (device is InjectorDevice)
{
act_move = InjectMoveTo.create(device, 3000, injDevice.Injector.Entercloses, x, IMask.Gen(y), IMask.Gen(z));
}
else
{
act_move = MoveTo.create(device, 3000, x, y, z);
}
seque.AddAction(act_move);
}
else if (action.Action == "初始化")
{
ActionBase act_move = null;
bool x = action.Direction == "X" ? true : false;
bool y = action.Direction == "Y" ? true : false;
bool z = action.Direction == "Z" ? true : false;
if (action.Direction == "XYZ")
{
x = y = z = true;
}
if (device is InjectorDevice)
{
act_move = InitXyz.create(device, 30000, injDevice.Injector.Entercloses, x, y, z);
}
else
{
act_move = InitXyz.create(device, 30000, x, y, z);
}
seque.AddAction(act_move);
}
}
break;
case LogicStepEnum.TakeAndPutDownGel:
{
GelAction[] actions = Convert2T <GelAction[]>(step.Parameters);
seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
ResInfoData take_seat = null;
if (actions[0].BJType == "T_BJ_GelSeat")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", actions[0].Index, 0, true, actions[0].BJName);
generater.GenerateTakeGelFromNormal(take_seat, ref seque);
}
else if (actions[0].BJType == "T_BJ_Centrifuge")
{
take_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", actions[0].Index, 0, true, actions[0].BJName);
var act = generater.GenerateTakeGelFromCent(take_seat, "", ref seque);
}
else if (actions[0].BJType == "T_BJ_GelWarehouse")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", actions[0].Index, 0, true, actions[0].BJName);
var act = generater.GenerateTakeGelFromWare(take_seat, ref seque);
}
if (actions[1].BJType == "T_BJ_GelSeat")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", actions[1].Index, 0, true, actions[1].BJName);
generater.GeneratePutGelToNormal(put_seat, take_seat, ref seque);
}
else if (actions[1].BJType == "T_BJ_Centrifuge")
{
var put_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", actions[1].Index, 0, true, actions[1].BJName);
generater.GeneratePutGelToCent(put_seat.CenCode, put_seat, take_seat, ref seque);
}
else if (actions[1].BJType == "T_BJ_GelWarehouse")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", actions[1].Index, 0, true, actions[1].BJName);
generater.GeneratePutGelToWare(put_seat, take_seat, ref seque);
}
}
break;
case LogicStepEnum.TakeGel:
{
GelAction action = Convert2T <GelAction>(step.Parameters);
ResInfoData take_seat = null;
if (action.BJType == "T_BJ_GelSeat")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", action.Index, 0, true, action.BJName);
generater.GenerateTakeGelFromNormal(take_seat, ref seque);
}
else if (action.BJType == "T_BJ_Centrifuge")
{
take_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", action.Index, 0, true, action.BJName);
var act = generater.GenerateTakeGelFromCent(take_seat, "", ref seque);
}
else if (action.BJType == "T_BJ_GelWarehouse")
{
take_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", action.Index, 0, true, action.BJName);
var act = generater.GenerateTakeGelFromWare(take_seat, ref seque);
}
break;
}
case LogicStepEnum.PutDownGel:
{
GelAction action = Convert2T <GelAction>(step.Parameters);
ResInfoData take_seat = resmanager.handseat_resinfo;
if (action.BJType == "T_BJ_GelSeat")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelSeat", "", "", action.Index, 0, true, action.BJName);
generater.GeneratePutGelToNormal(put_seat, take_seat, ref seque);
}
else if (action.BJType == "T_BJ_Centrifuge")
{
var put_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", "", "", action.Index, 0, true, action.BJName);
generater.GeneratePutGelToCent(put_seat.CenCode, put_seat, take_seat, ref seque);
}
else if (action.BJType == "T_BJ_GelWarehouse")
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", "", "", action.Index, 0, true, action.BJName);
generater.GeneratePutGelToWare(put_seat, take_seat, ref seque);
}
break;
}
case LogicStepEnum.TakeTip:
{
TakeTipAction action = Convert2T <TakeTipAction>(step.Parameters);
var ents = injDevice.Injector.Entercloses.Where(ent => ent.Valid && action.Indexs.Contains(ent.Index)).ToArray();
var tipseat = Constants.BJDict[typeof(T_BJ_Tip).Name].Where(item => item.Name == action.TipBoxName).FirstOrDefault() as T_BJ_Tip;
List <ActionPoint> tip_seat = new List <ActionPoint>();
foreach (var ent in ents)
{
int x = (int)(tipseat.X - action.C * tipseat.GapX);
int y = (int)(tipseat.Y + action.R * tipseat.GapY);
var point = new ActionPoint();
point.x = x;
point.y = y;
point.z = (int)tipseat.Limit;
point.type = TestStepEnum.JXZT;
point.index = ent.Index;
tip_seat.Add(point);
}
var sequ_taketip = Sequence.create();
var move_act = InjectMoveActs.create(injDevice, 3000, tip_seat.ToArray(), false);
sequ_taketip.AddAction(InjectMoveTo.create(injDevice, 3000, ents, -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_taketip.AddAction(move_act);
seque.AddAction(sequ_taketip);
}
break;
case LogicStepEnum.OutTip:
{
TakeTipAction action = Convert2T <TakeTipAction>(step.Parameters);
var ents = injDevice.Injector.Entercloses.Where(ent => ent.Valid && action.Indexs.Contains(ent.Index)).ToArray();
var sequ_puttip = Sequence.create();
List <ActionPoint> unload_seat = new List <ActionPoint>();
var inject_unload = resmanager.unload_list;
if (inject_unload.Count() == 1)
{
var unloader = inject_unload[0];
for (int i = 0; i < 4; i++)
{
var unload_point = new ActionPoint((int)unloader.X, (int)unloader.Y + i * (int)unloader.FZ, (int)unloader.Z, TestStepEnum.JXZT);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveTo.create(injDevice, 3000, ents, -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_puttip.AddAction(InjectMoveActs.create(injDevice, 3000, unload_seat.ToArray(), true));
seque.AddAction(sequ_puttip);
}
}
break;
case LogicStepEnum.Piercer:
{
var paper_seat = resmanager.GetResByCode("", "T_BJ_GelSeat", "", "4");
seque.AddAction(PaperCard.create(pieDevice, 3000, paper_seat, 0));
}
break;
case LogicStepEnum.LoopStart:
{
LogicLoop logicLoop = Convert2T <LogicLoop>(step.Parameters);
loop_times = logicLoop.Count;
seque_root.AddAction(seque);
seque = Sequence.create();
}
break;
case LogicStepEnum.LoopEnd:
{
var act_repat = Repeat.create(seque, loop_times);
seque_root.AddAction(act_repat);
seque = Sequence.create();
loop_times = 0;
}
break;
}
}
seque_root.AddAction(seque);
seque_root.runAction(opDevice);
return(true);
}
public ActionDevice(AbstractCanDevice nodetem)
{
node = nodetem;
}
