/// <summary>
/// 复位到点方法
/// </summary>
/// <param name="Pos">复位点位置</param>
/// <param name="Speed">机器移动速度</param>
/// <param name="Deviation">机器移动误差</param>
/// <returns></returns>
public static IEnumerator WaitForResetting(Vector2 Pos, int Speed, int Deviation)
{
Debug.Log("开始复位点");
//发送复位命令
DynaLinkHS.CmdServoOn();
DynaLinkHS.CmdLinePassive((int)Pos.x, (int)Pos.y, Speed);
//等待复位
float waittime = 0;
do
{
//复位中超过三秒不动重新发点
if (waittime >= ResendTime)
{
DynaLinkHS.CmdServoOn();
DynaLinkHS.CmdLinePassive((int)Pos.x, (int)Pos.y, Speed);
waittime = 0;
}
yield return(new WaitForSeconds(0.5f));
//根据MotionInProcess来判断是否在运动
if (!DiagnosticStatus.MotStatus.MotionInProcess)
{
waittime += 0.5f;
}
else
{
waittime = 0;
}
} while ((Mathf.Abs(DynaLinkHS.StatusMotRT.PosDataJ1 - Pos.x) > Deviation || Mathf.Abs(DynaLinkHS.StatusMotRT.PosDataJ2 - Pos.y) > Deviation || DiagnosticStatus.MotStatus.MotionInProcess) && !IsEmrgencyStop && IsConnected && !IsCaution && !IsHalt && !IsPause && !IsFault);
Debug.Log("Enter");
yield return("ResettingFinished");
}
private void Awake()
{
// 初始化窗体属性
base.CurrentUIType.UIForms_Type = UIFormType.PopUp;
base.CurrentUIType.UIForms_ShowMode = UIFormShow.ReverseChange;
base.CurrentUIType.UIForm_LucencyType = UIFormLucenyType.ImPenetrable;
//base.Initialize();
// 注册按钮事件
RigisterButtonObjectEvent("CountDown_Pause",
p =>
{
OpenUIForm("HOGUIPause");
GlobalApplication.IsPause = true;
DynaLinkHS.CmdServoOn();
SendMessage(HiddenObjectMessage.MsgStopGame, "", "True");
}
);
}
void Awake()
{
base.CurrentUIType.UIForms_Type = UIFormType.Normal;
base.CurrentUIType.UIForms_ShowMode = UIFormShow.Normal;
base.CurrentUIType.UIForm_LucencyType = UIFormLucenyType.Lucency;
//注册按钮事件
RigisterButtonObjectEvent("Btn_Music",
p =>
{
// print("音乐按钮");
GlobalApplication.IsPause = true;
OpenUIForm(HiddenObjectPage.MusicConsole);
DynaLinkHS.CmdServoOn();
SendMessage(HiddenObjectMessage.MsgStopGame, "", "True");
}
);
RigisterButtonObjectEvent("Btn_Pause",
p =>
{
GlobalApplication.IsPause = true;
OpenUIForm("HOGUIPause");
DynaLinkHS.CmdServoOn();
SendMessage(HiddenObjectMessage.MsgStopGame, "", "True");
}
);
RigisterButtonObjectEvent("Btn_Next",
p =>
{
print("下一步按钮");
//CloseUIForm("Task");
OnClickNext();
}
);
}
/// <summary>
/// Called on Update
/// </summary>
void MonitorMachineStatus()
{
if (DiagnosticStatus.MotStatus.Caution && !_isbool)
{
OpenUIForm("Spasm");
_isCaution = true;
//CommandFunctions.SpasmRecover(new Vector2(81500, 35600), 150000, 300, 3, 60);
Vector2 rePoint = new Vector2();
if (_canStartGame)
{
rePoint.x = Mathf.CeilToInt(_lastPos.x / MachinePara.WidthScale);
rePoint.y = Mathf.CeilToInt(_lastPos.y / MachinePara.HeightScale);
}
else
{
rePoint = MachinePara.ResetVect;
}
CommandFunctions.SpasmRecover(rePoint, 150000, 300, 3, 60);
_isbool = true;
}
if (CommandFunctions.IsSpasmFinished)
{
Debug.LogWarning("<color=orange>" + CommandFunctions.IsInReset + "</color>");
if (CommandFunctions.IsInReset)
{
CommandFunctions.RestartReset();
}
//else
//{
// if (GlobalApplication.CanRecord)
// SendMachineCmd();
//}
CommandFunctions.IsSpasmFinished = false;
_isbool = false;
_isCaution = false;
}
//if (CommandFunctions.IsSpasmAgain)
//{
// Debug.Log("二次痉挛");
// CommandFunctions.SpasmAgainRecover();
// CommandFunctions.IsSpasmAgain = false;
//}
if (!CommandFunctions.IsConnected || DynaLinkHS.EMstop || _isCaution)
{
GlobalApplication.IsPause = true;
_canSendCmd = true;
}
else
{
if (!_isGameStop)
{
GlobalApplication.IsPause = false;
}
}
if (_canSendCmd && _canStartGame && !_isCaution && CommandFunctions.IsConnected && !DynaLinkHS.EMstop)
{
if (_isGameStop)
{
DynaLinkHS.CmdServoOn();
}
else
{
SendMachineCmd();
}
_canSendCmd = false;
}
}
void Update()
{
//出现断开连接或者急停或者痉挛，不执行痉挛/复位的任何操作
if (CommandFunctions.IsEmrgencyStop || !CommandFunctions.IsConnected)
{
return;
}
//获得Caution标志位
DetectionManage.Instance.Caution = DiagnosticStatus.MotStatus.Caution;
DetectionManage.Instance.Fault = DiagnosticStatus.MotStatus.Fault;
//痉挛流程处理
switch (CommandFunctions.spasmState)
{
//痉挛等待阶段，等待X秒后开始清除痉挛
case CommandFunctions.SpasmState.RecoveryWaiting:
//等待时间到
if (CommandFunctions.SpasmWaitingTime <= 0)
{
Debug.Log("等待完毕");
//等待时间到，切换痉挛状态为清除痉挛
CommandFunctions.spasmState = CommandFunctions.SpasmState.Recovering;
}
else
{
CommandFunctions.SpasmWaitingTime -= Time.deltaTime;
}
break;
//清除痉挛阶段
case CommandFunctions.SpasmState.Recovering:
//首先判断是在复位中还是游戏中
//如果在复位中继续复位
if (CommandFunctions.IsInReset)
{
Debug.Log("IsInReset");
ControlSpasmAgain = false;
//清除痉挛
DynaLinkHS.CmdClearAlm();
DynaLinkHS.CmdServoOff();
DynaLinkHS.CmdServoOn();
//改变痉挛完成标志位
//CommandFunctions.IsSpasmFinished = true;
CommandFunctions.spasmState = CommandFunctions.SpasmState.NoSpasm;
}
else
{
//在游戏中，改变痉挛状态为等待复位中
Debug.Log("IsInGame");
CommandFunctions.spasmState = CommandFunctions.SpasmState.ResettingWaiting;
//开始复位到上一个点
StartCoroutine(WaitForSpasmReset(CommandFunctions.SpasmPostion, CommandFunctions.ResetSpeed, CommandFunctions.ResetDeviation));
}
break;
//等待不做任何事
case CommandFunctions.SpasmState.ResettingWaiting:
break;
//二次痉挛
case CommandFunctions.SpasmState.SpasmAgain:
Debug.Log("二次痉挛");
//停止所有协程
StopAllCoroutines();
//等待清除痉挛标志位
WaitforCaution = true;
//延迟0.5秒清除痉挛
Invoke("DelayClearAlm", 0.5f);
CommandFunctions.spasmState = CommandFunctions.SpasmState.ResettingWaiting;
break;
//跳过痉挛
case CommandFunctions.SpasmState.SkipSpasm:
Debug.Log("跳过痉挛");
CommandFunctions.spasmState = CommandFunctions.SpasmState.ResettingWaiting;
//停止现在所有协程
StopAllCoroutines();
if (Ienumerator != null)
{
StopCoroutine(Ienumerator);
}
DynaLinkHS.CmdServoOn();
CommandFunctions.SpasmWaitingTraining = 0;
//如果还有痉挛清除痉挛
if (CommandFunctions.IsCaution)
{
WaitforCaution = true;
DynaLinkHS.CmdClearAlm();
DynaLinkHS.CmdServoOn();
}
else
{
//痉挛已清除，直接改变痉挛过程完成标志位
ControlSpasmAgain = false;
//CommandFunctions.IsSpasmFinished = true;
//设置痉挛状态为无痉挛
CommandFunctions.spasmState = CommandFunctions.SpasmState.NoSpasm;
}
break;
}
//复位流程处理
if (CommandFunctions.resettingState != CommandFunctions.ResettingState.ResetFinshed && CommandFunctions.IsCanReset && !CommandFunctions.IsCaution && !CommandFunctions.IsPause && DiagnosticStatus.MotStatus.SysCalPass)
{
switch (CommandFunctions.resettingState)
{
//游戏开始前复位
case CommandFunctions.ResettingState.Resetting:
CommandFunctions.resettingState = CommandFunctions.ResettingState.ResetWaiting;
//开始复位到游戏开始点
StartCoroutine(WaitForReset(CommandFunctions.ResetPostion, CommandFunctions.ResetSpeed, CommandFunctions.ResetDeviation));
break;
//等待阶段什么都不做
case CommandFunctions.ResettingState.ResetWaiting:
break;
//游戏结束后复位
case CommandFunctions.ResettingState.EndResetting:
CommandFunctions.resettingState = CommandFunctions.ResettingState.ResetWaiting;
//开始复位到游戏结束点
StartCoroutine(WaitForEndReset(CommandFunctions.ResetPostion, CommandFunctions.ResetSpeed, CommandFunctions.ResetDeviation));
break;
}
}
}