//是否在离心机内的所有卡当前动作是离心 public bool IsCanPutCen(CentrifugeMDevice cendev) { if (actionmanager.getAllActionsCount(cendev) != 0) { return(false); } 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) { var exp_package = GetExpPackageByMask(resinfo.GetGelMask()); if (exp_package.GetActionTypeAt(0) != TestStepEnum.ZKDLXJ) { return(false); } } } break; } } return(true); }
//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>(); if (experiment_package_list.Count == 0) { return(false); } 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)); } System.Diagnostics.Debug.Assert(exp_pack != null); if (exp_pack == null) { return(false); } 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, 0, 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, 6000000, 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); }
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; } }