public void TakeTipAuto()
{
//生成装帧动作
if (this.SelectedBJ == null)
{
return;
}
if (SelectedBJ is T_BJ_Tip tipseat)
{
var sequ_taketip = Sequence.create();
var tip_seat = resmanager.GetFreeTipActPoint(injectorDevice.GetSeleteced().Length, 2, tipseat.Name);
if (tip_seat != null)
{
int index = 0;
var tip_seat_tem = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
tip_seat_tem[ent.Index] = tip_seat[index];
index++;
}
var move_act = InjectMoveActs.create(20000, tip_seat_tem, false);
//sequ_taketip.AddAction(InjectMoveTo.create(3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_taketip.AddAction(move_act);
sequ_taketip.runAction(injectorDevice);
}
else
{
ErrorSystem.WriteActError("吸盘盒为空!", true, false, 9999);
}
}
}
public void SubLiquid()
{
if (SelectedBJ is T_BJ_GelSeat gelseat)
{
int x = (int)(gelseat.InjectorX);
int y = gelseat.GetInjectorY(SeatYIndex);
var sequ_putsample = Sequence.create(
InjectMoveTo.create(injectorDevice, 3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)),
InjectAbsorbMove.create(300, injectorDevice.GetSeleteced(), 100, IMask.Gen(0)));
for (int i = 0; i < 8; i++)
{
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
points[ent.Index].x = x + i * (int)gelseat.InjectorGapX;
points[ent.Index].y = y + ent.Index * (int)gelseat.InjectorGapY;
points[ent.Index].z = (int)gelseat.InjectorZ;
points[ent.Index].zb = points[ent.Index].z - 1500;
points[ent.Index].minwidth = (double)gelseat.MinWidth;
points[ent.Index].type = TestStepEnum.SpuLiquid;
points[ent.Index].capacity = 500;
}
sequ_putsample.AddAction(InjectMoveActs.create(3000, points.ToArray(), true));
}
sequ_putsample.runAction(injectorDevice);
}
}
public void TakeTip()
{
if (this.SelectedBJ == null)
{
return;
}
if (SelectedBJ is T_BJ_Tip tipseat)
{
var tip_seat = IMask.Gen(new ActionPoint(-1, -1, -1));
int x = (int)(tipseat.X - SeatXIndex * tipseat.GapX);
int y = (int)(tipseat.Y + SeatYIndex * tipseat.GapY);
foreach (var ent in injectorDevice.GetSeleteced())
{
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[ent.Index] = point;
}
var sequ_taketip = Sequence.create();
var move_act = InjectMoveActs.create(3000, tip_seat.ToArray(), false);
sequ_taketip.AddAction(InjectMoveTo.create(3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_taketip.AddAction(move_act);
sequ_taketip.runAction(injectorDevice);
}
}
public void MoveXY()
{
if (this.SelectedBJ == null)
{
return;
}
var move_act = Sequence.create();
move_act.AddAction(InjectMoveTo.create(10000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
int x = 0;
int y = 0;
double min_width = 1.0f;
if (SelectedBJ is T_BJ_Tip tipseat)
{
x = (int)(tipseat.X - SeatXIndex * tipseat.GapX);
y = tipseat.GetY(SeatYIndex);
min_width = (double)tipseat.MinWidth;
}
else if (SelectedBJ is T_BJ_SampleRack sampleseat)
{
x = (int)(sampleseat.X);
y = (int)sampleseat.GetY(SeatYIndex);
min_width = (double)sampleseat.MinWidth;
}
else if (SelectedBJ is T_BJ_DeepPlate deepplate)
{
x = (int)(deepplate.X + SeatXIndex * deepplate.GapX);
y = deepplate.GetY(SeatYIndex);
min_width = (double)deepplate.MinWidth;
}
else if (SelectedBJ is T_BJ_AgentiaWarehouse agentiaware)
{
x = (int)(agentiaware.X);
y = agentiaware.GetY(SeatYIndex);
min_width = (double)agentiaware.MinWidth;
}
else if (SelectedBJ is T_BJ_GelSeat gelseat)
{
x = (int)(gelseat.InjectorX + SeatXIndex * gelseat.InjectorGapX);
y = gelseat.GetInjectorY(SeatYIndex);
min_width = (double)gelseat.MinWidth;
}
else if (SelectedBJ is T_BJ_Unload unload)
{
x = (int)(unload.X);
y = (int)(unload.Y + SeatYIndex * unload.FZ);
}
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
points[ent.Index].x = x;
points[ent.Index].y = y;
points[ent.Index].minwidth = min_width;
}
move_act.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
move_act.runAction(injectorDevice);
}
/// <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 void PutTip()
{
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.PutTip);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveTo.create(3000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
sequ_puttip.AddAction(InjectMoveActs.create(3000, unload_seat.ToArray(), true));
sequ_puttip.runAction(injectorDevice);
}
}
//按小组生成动作
public Sequence GenerateAction(List <T_GelStep> act_group)
{
//更新坐标计算吸头个数
int zt_count = 0;
foreach (var act in act_group)
{
zt_count += act.InjectCount;
}
var resmanager = ResManager.getInstance();
Enterclose[] enters = new Enterclose[zt_count];//使用加样器个数
for (int i = 0; i < zt_count; i++)
{
enters[i] = Engine.getInstance().injectorDevice.Injector.Entercloses[i];
}
//生成装帧动作
var tip_seat = resmanager.GetFreeTipActPoint(zt_count, 2);
var sequ_taketip = InjectMoveActs.create(3001, tip_seat, false);
//生成加样动作
var sequ_takesample = Sequence.create();
List <ActionPoint> abs_seat = new List <ActionPoint>();
foreach (var act_abs in act_group)
{
var abs_point = GelStepToActionPoint(act_abs, TestStepEnum.AbsLiquid);
abs_seat.Add(abs_point);
}
sequ_takesample.AddAction(InjectMoveActs.create(3001, abs_seat.ToArray(), true));
//生成混合液体
var sequ_mixsample = Sequence.create();
List <ActionPoint> mix_seat = new List <ActionPoint>();
foreach (var act_mix in act_group)
{
if (act_mix.is_mix)
{
var mix_point = GelStepToActionPoint(act_mix, TestStepEnum.MixLiquid);
mix_seat.Add(mix_point);
}
}
sequ_mixsample.AddAction(InjectMoveActs.create(3001, mix_seat.ToArray(), true));
//生成分配动作
var sequ_putsample = Sequence.create();
List <ActionPoint> spu_seat = new List <ActionPoint>();
int spu_index = 0;
foreach (var act_spu in act_group)
{
if (act_spu.is_spu)
{
var spu_point = GelStepToActionPoint(act_spu, TestStepEnum.SpuLiquid);
var tubelist = spu_point.GetTubeList();
for (int i = 0; i < tubelist.Count(); i++)
{
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
points[spu_index] = (ActionPoint)spu_point.Clone();
points[spu_index].x = (int)(spu_point.x + tubelist[i] * spu_point.tube_gap);
if (tubelist.Count() != 1 && i >= 0 && i < tubelist.Count() - 1)
{
points[spu_index].zb = points[spu_index].z - 1500;
if (points[spu_index].zb <= 0)
{
points[spu_index].zb = 0;
}
}
sequ_putsample.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
}
}
spu_index++;
}
//生成脱针动作
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.PutTip);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveActs.create(3001, unload_seat.ToArray(), true));
}
var action_list = Sequence.create();
action_list.node = Engine.getInstance().injectorDevice;
action_list.AddAction(sequ_taketip);
action_list.AddAction(sequ_takesample);
action_list.AddAction(sequ_mixsample);
action_list.AddAction(sequ_putsample);
//action_list.AddAction(sequ_puttip);
return(action_list);
}
//按小组生成动作
public Sequence GenerateAction(List <T_GelStep> act_group)
{
//更新坐标计算吸头个数
int zt_count = 0;
foreach (var act in act_group)
{
act.InjIndex = zt_count;
zt_count += act.InjectCount;
}
var resmanager = ResManager.getInstance();
Enterclose[] enters = new Enterclose[zt_count];//使用加样器个数
for (int i = 0; i < zt_count; i++)
{
enters[i] = Engine.getInstance().injectorDevice.Injector.Entercloses[i];
}
//生成装帧动作
var tip_seat = resmanager.GetFreeTipActPoint(zt_count, 2);
var sequ_taketip = InjectMoveActs.create(3001, tip_seat, false);
//生成加样动作
var sequ_takesample = Sequence.create();
List <ActionPoint> abs_seat = new List <ActionPoint>();
int abs_index = 0;
var abs_width_rate = IMask.Gen(1.0f);
foreach (var act_abs in act_group)
{
var abs_point = GelStepToActionPoint(act_abs, TestStepEnum.AbsLiquid, null);
var agentseat = resmanager.GetAgentiaWarehouseSeat(abs_point.liquid_type);
if (agentseat != null)
{
abs_width_rate[act_abs.InjIndex] = !act_abs.GetLiquidInfo().IsAgentia ? 0.7693f : 1.1f;
abs_point.y += (int)(agentseat.Gap * abs_index) * (agentseat.Count == 1 ? 1 : 0);
}
abs_seat.Add(abs_point);
abs_index++;
}
sequ_takesample.AddAction(InjectMoveActs.create(3001, abs_seat.ToArray(), true, abs_width_rate));
//计算混合是否需要分配（当前卡在第一卡位时且只有一个试验）
var inj_exp_list = ExperimentLogic.getInstance().GetInjExpPackageList();
foreach (var act_mix in act_group)
{
var exp = (ExperimentPackage)act_mix.ExperPackage;
var piperseat = resmanager.GetResByCode(exp.GetGelMask(), "T_BJ_GelSeat", "", "4");
if (piperseat.CountX == 0 && inj_exp_list.Count == 1)
{
act_mix.is_spu = act_mix.InjIndex == 0;
}
else
{
act_mix.is_spu = act_mix.LiquidTypeIndex == act_mix.GetFpytInfo().LiquidList.Count - 1;
}
}
//得到可用深盘
var mix_list = act_group.Where(item => item.is_mix == true).ToList();
mix_list = mix_list.Where((x, x_index) => x_index == (mix_list.FindIndex(y => y.MixCode == x.MixCode))).ToList();
int mix_inj_count = mix_list.Count;
var mix_deep_seat = resmanager.GetFreeDeepPlate(mix_inj_count, 2);
//生成混合液体
var sequ_mixsample = Sequence.create();
var mix_seat = IMask.Gen(new ActionPoint(-1, -1, -1));
int mix_index = 0;
foreach (var act_mix in act_group)
{
if (act_mix.is_mix)
{
var mix_point = GelStepToActionPoint(act_mix, TestStepEnum.MixLiquid, mix_deep_seat[mix_index % mix_inj_count]);
mix_seat[act_mix.InjIndex] = mix_point;
mix_index++;
}
}
sequ_mixsample.AddAction(InjectMoveActs.create(3001, mix_seat.ToArray(), true));
//生成分配动作
var sequ_putsample = Sequence.create();
//查找卡位
List <ActionPoint> spupoint_list = new List <ActionPoint>();
foreach (var act_spu in act_group)
{
if (act_spu.is_spu)
{
var spu_point = GelStepToActionPoint(act_spu, TestStepEnum.SpuLiquid, null);
spu_point.index = act_spu.InjIndex;
spupoint_list.Add(spu_point);
}
}
var hit_count = IMask.Gen(0);
for (int i = 0; i < 8; i++)
{
bool is_find = false;
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var spuc in spupoint_list)
{
bool is_hit = (spuc.tube & (0x01 << i)) != 0;
if (is_hit)
{
var tubelist = spuc.GetTubeList();
points[spuc.index] = (ActionPoint)spuc.Clone();
points[spuc.index].x = (int)(spuc.x + i * spuc.tube_gap);
points[spuc.index].y = (int)spuc.y;
if (tubelist.Count() != 1 && hit_count[spuc.index] < tubelist.Count() - 1)
{
points[spuc.index].zb = points[spuc.index].z - 1500;
if (points[spuc.index].zb <= 0)
{
points[spuc.index].zb = 0;
}
}
hit_count[spuc.index]++;
is_find = true;
}
}
if (is_find)
{
sequ_putsample.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
}
}
//生成脱针动作
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.PutTip);
unload_point.puttip_x = (int)unloader.FirstX;
unload_seat.Add(unload_point);
}
sequ_puttip.AddAction(InjectMoveActs.create(3001, unload_seat.ToArray(), true));
}
var action_list = Sequence.create();
action_list.node = Engine.getInstance().injectorDevice;
action_list.AddAction(sequ_taketip);
action_list.AddAction(sequ_takesample);
action_list.AddAction(sequ_mixsample);
action_list.AddAction(sequ_putsample);
action_list.AddAction(sequ_puttip);
return(action_list);
}
public void AbsLiquid()
{
if (this.SelectedBJ == null)
{
return;
}
var move_act = Sequence.create();
bool is_find = false;
move_act.AddAction(InjectMoveTo.create(10000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
int x = 0;
int y = 0;
int z = 0;
if (SelectedBJ is T_BJ_SampleRack sampleseat)
{
x = (int)(sampleseat.X);
y = (int)(sampleseat.Y + SeatYIndex * sampleseat.Gap);
z = (int)(sampleseat.Z);
is_find = true;
}
else if (SelectedBJ is T_BJ_DeepPlate deepplate)
{
x = (int)(deepplate.X + SeatXIndex * deepplate.GapX);
y = (int)(deepplate.Y + SeatYIndex * deepplate.GapY);
z = (int)(deepplate.Z);
is_find = true;
}
else if (SelectedBJ is T_BJ_AgentiaWarehouse agentiaware)
{
x = (int)(agentiaware.X);
y = (int)(agentiaware.Y + SeatYIndex * agentiaware.Gap);
z = (int)(agentiaware.Z);
is_find = true;
}
else if (SelectedBJ is T_BJ_GelSeat gelseat)
{
x = (int)(gelseat.InjectorX + SeatXIndex * gelseat.InjectorGapX);
y = (int)(gelseat.InjectorY + SeatYIndex * gelseat.InjectorGapY);
z = (int)(gelseat.InjectorZ);
is_find = true;
}
else if (SelectedBJ is T_BJ_Unload unload)
{
x = (int)(unload.X);
y = (int)(unload.Y);
z = (int)(unload.Z);
is_find = true;
}
if (is_find)
{
var tip_seat = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
var point = new ActionPoint();
point.x = x;
point.y = y;
point.z = z;
point.zb = 0;
point.type = TestStepEnum.JXZT;
point.index = ent.Index;
tip_seat[ent.Index] = point;
}
move_act.AddAction(InjectMoveActs.create(3000, tip_seat.ToArray(), false));
move_act.runAction(injectorDevice);
}
}
/// <summary>
/// 探测液面
/// </summary>
public void Detect()
{
if (this.SelectedBJ == null)
{
return;
}
var move_act = Sequence.create();
move_act.AddAction(InjectMoveTo.create(10000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0)));
int x = 0;
int y = 0;
int z = 0;
int zl = (int)ZDeepWhenDetecting;
double gap = 0;
if (SelectedBJ is T_BJ_SampleRack sampleseat)
{
x = (int)(sampleseat.X);
y = (int)(sampleseat.Y + SeatYIndex * sampleseat.Gap);
z = (int)sampleseat.Z;
if (zl == 0)
{
zl = (int)sampleseat.Z + 1000;
}
else
{
zl = (int)sampleseat.Z + (int)ZDeepWhenDetecting;
}
gap = (double)sampleseat.Gap;
}
else if (SelectedBJ is T_BJ_DeepPlate deepplate)
{
x = (int)(deepplate.X + SeatXIndex * deepplate.GapX);
y = (int)(deepplate.Y + SeatYIndex * deepplate.GapY);
z = (int)deepplate.Z;
if (zl == 0)
{
zl = (int)deepplate.Z;
}
else
{
zl = (int)deepplate.Z + (int)ZDeepWhenDetecting;
}
gap = (double)deepplate.GapX;
}
else if (SelectedBJ is T_BJ_AgentiaWarehouse agentiaware)
{
x = (int)(agentiaware.X);
y = (int)(agentiaware.Y + SeatYIndex * agentiaware.Gap);
z = (int)agentiaware.Z;
if (zl == 0)
{
zl = (int)agentiaware.Z + 1000;
}
else
{
zl = (int)agentiaware.Z + (int)ZDeepWhenDetecting;
}
gap = (double)agentiaware.Gap;
}
var points = IMask.Gen(new ActionPoint(-1, -1, -1));
foreach (var ent in injectorDevice.GetSeleteced())
{
points[ent.Index].x = x;
points[ent.Index].y = y + (int)(ent.Index * gap);
points[ent.Index].z = z;
points[ent.Index].zb = z;
}
move_act.AddAction(InjectMoveActs.create(3001, points.ToArray(), true));
move_act.AddAction(InjectDetector.create(30000, injectorDevice.GetSeleteced(), IMask.Gen(z), IMask.Gen((int)zl), IMask.Gen((int)0)));
move_act.runAction(injectorDevice);
}
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);
}
