public override ActionBase InitAll()
{
var by = IMask.Gen(0);
foreach (var ent in Injector.Entercloses)
{
by[ent.Index] = (int)ent.YZero;
}
var inject_list = Injector.Entercloses.Where(item => item.InjEnable).ToList();
var act = Sequence.create(InitXyz.create(this, 30000, inject_list.ToArray(), false, false, true));
act.AddAction(InitXyz.create(this, 30000, inject_list.ToArray(), true, true, false, by));
var device = new ActionDevice(this);
int x = 0;
int[] y = new int[4];
int [] z = new int [4];
device.GetRealX(ref x);
device.GetRealY(inject_list.ToArray(), ref y);
device.GetRealZ(inject_list.ToArray(), ref z);
Injector.XMotor.CurrentDistance = x;
for (int i = 0; i < inject_list.Count(); i++)
{
inject_list[i].YMotor.CurrentDistance = y[i] + (int)inject_list[i].TipDis;
inject_list[i].ZMotor.CurrentDistance = z[i];
}
return(act);
}
/// <summary>
/// 移动Y
/// </summary>
public void MoveY()
{
var move_act = Sequence.create();
var device = new ActionDevice(injectorDevice);
move_act.AddAction(InjectMoveTo.create(10000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
int x = 0;
int y = (int)DistanceY;
double min_width = 1.0f;
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
if (device.GetRealX(ref x))
{
var ens = injectorDevice.Injector.Entercloses;
int[] py = { 0, (int)(ens[1].TipDis), (int)(ens[2].TipDis + ens[2].InjWidth), (int)(ens[3].TipDis + ens[3].InjWidth) };
foreach (var ent in injectorDevice.GetSeleteced())
{
points[ent.Index].x = x;
points[ent.Index].y = y + py[ent.Index];
points[ent.Index].minwidth = min_width;
}
move_act.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
move_act.runAction(injectorDevice);
}
//var canComm = IoC.Get<AbstractCanComm>();
//var injects = injectorDevice.GetSeleteced();
//if(IsUseTMotor)
//{
// var act = InjectMoveTo.create(5001, injects.ToArray(), -1, IMask.Gen((int)DistanceY), IMask.Gen(0), 2);
// act.runAction(injectorDevice);
//}
//else
//{
// var points = IMask.Gen(new ActionPoint(-1, -1, -1));
// var device = new ActionDevice(injectorDevice);
// int x = 0;
// if(device.GetRealX(ref x))
// {
// var min_index = injects.Min(et => et.Index);
// points[min_index].x = x;
// points[min_index].y = (int)DistanceY;
// points[min_index].minwidth = 1.0f;
// var act = InjectMoveActs.create(3001, points.ToArray(), true);
// act.runAction(injectorDevice);
// }
//}
}
public override ActionBase InitAll()
{
InitHandTongs();
var act = Sequence.create(InitXyz.create(this, 30000, false, false, true));
act.AddAction(InitXyz.create(this, 30000, true, true, false));
var device = new ActionDevice(this);
int x = 0;
int y = 0;
int z = 0;
device.GetRealX(ref x);
device.GetRealY(ref y);
device.GetRealZ(ref z);
Hand.XMotor.CurrentDistance = x;
Hand.YMotor.CurrentDistance = y;
Hand.ZMotor.CurrentDistance = z;
return(act);
}
//得到恢复当前状态的动作
public bool GetReSetAct(ref Sequence seque_act)
{
int x = 0;
int [] y = IMask.Gen(-1);
int[] z = IMask.Gen(-1);
var device = new ActionDevice(this);
var inject_list = Injector.Entercloses.Where(item => item.InjEnable).ToList();
bool ret = device.GetRealX(ref x);
ret = ret && device.GetRealY(inject_list.ToArray(), ref y);
ret = ret && device.GetRealZ(inject_list.ToArray(), ref z);
for (int i = 0; i < inject_list.Count; i++)
{
y[inject_list[i].Index] += (int)inject_list[i].TipDis;
}
seque_act.AddAction(InjectMoveTo.create(3000, inject_list.ToArray(), -1, IMask.Gen(-1), IMask.Gen(0)));
seque_act.AddAction(InjectMoveTo.create(3000, inject_list.ToArray(), x, y, IMask.Gen(-1)));
seque_act.AddAction(InjectMoveTo.create(3000, inject_list.ToArray(), -1, IMask.Gen(-1), z));
return(ret);
}