//x轴移动约束
public bool MoveXConstrains(int x, double dt)
{
if (node is MachineHandDevice || node is InjectorDevice)
{
contime += dt;
if (contime > 500)
{
contime = 0;
MachineHandDevice handDevice = Engine.getInstance().handDevice;
InjectorDevice injectorDevice = Engine.getInstance().injectorDevice;
OtherPartDevice opDevice = Engine.getInstance().opDevice;
int hand_rx = 0;
int inj_rx = 0;
var hand_device = new ActionDevice(handDevice);
var inj_device = new ActionDevice(injectorDevice);
hand_device.GetRealX(ref hand_rx);
inj_device.GetRealX(ref inj_rx);
if (node is MachineHandDevice)
{
hand_tx = x;
}
if (node is InjectorDevice)
{
inj_tx = x;
}
int hand_cx = hand_rx != hand_old_rx ? hand_tx : hand_rx;
int inj_cx = inj_rx != inj_old_rx ? inj_tx : inj_rx;
int total_space = opDevice.OP.AvoidanceTotal.SetValue;
int limt_space = opDevice.OP.AvoidanceSpace.SetValue;
int l_space = total_space - (hand_cx + inj_cx) - limt_space;
int hand_lx = hand_cx + l_space;
int inj_lx = inj_cx + l_space;
hand_old_rx = hand_rx;
inj_old_rx = inj_rx;
bool is_hand_in_con_space = hand_rx >= hand_tx ? false : hand_tx >= hand_lx;
bool is_inj_in_con_space = inj_rx >= inj_tx ? false : inj_tx >= inj_lx;
//System.Diagnostics.Debug.Assert(!(is_hand_in_con_space && is_inj_in_con_space));
is_all_in_con_space = is_hand_in_con_space && is_inj_in_con_space;
if (node is MachineHandDevice)
{
return(is_hand_in_con_space == false);
}
else if (node is InjectorDevice)
{
return(is_inj_in_con_space == false);
}
}
return(false);
}
return(true);
}
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;
}
}
}
}
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;
}
}
}
}