//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);
}
//把转换为action point
public ActionPoint GelStepToActionPoint(T_GelStep gel_step, TestStepEnum type)
{
if (gel_step.StepClass == TestStepEnum.FPYT && gel_step.GetLiquidInfo().IsDetector&& type != TestStepEnum.MixLiquid && type != TestStepEnum.SpuLiquid)
{
type = TestStepEnum.FollowAbsLiquid;
}
ActionPoint action_point = new ActionPoint(-1, -1, -1, type);
var resmanager = ResManager.getInstance();
var exp_pack = ((ExperimentPackage)gel_step.ExperPackage);
if (gel_step.StepClass == TestStepEnum.FPYT)
{
//是否为混合
bool is_mix = gel_step.is_mix;
var fpytinfo = gel_step.GetFpytInfo();
var liquidinfo = gel_step.GetLiquidInfo();
action_point.deep = (int)liquidinfo.Deep;
action_point.deepspeed = (int)liquidinfo.DeeSpeed;
action_point.detectordeep = (int)liquidinfo.DetectorDeep;
action_point.tube = (int)(fpytinfo.TubeValue >> gel_step.SampleIndex);
action_point.capacity = (int)liquidinfo.Vol;
action_point.absbspeed = (int)liquidinfo.AbsSpeed;
action_point.spuspeed = (int)liquidinfo.SpuSpeed;
action_point.backcapacity = (int)liquidinfo.BackCapacity;
action_point.backspeed = (int)liquidinfo.BackCapacitySpeed;
action_point.mixtimes = (int)(gel_step.is_spu?fpytinfo.MixTimes:0);
action_point.mixdeep = (int)fpytinfo.MixDeep;
action_point.spucapacity = (int)fpytinfo.Vol;
if (action_point.type == TestStepEnum.AbsLiquid || action_point.type == TestStepEnum.FollowAbsLiquid)
{
ResInfoData abs_tager = null;//吸取的液体
if (liquidinfo.LiquidType == "病人红细胞" || liquidinfo.LiquidType == "病人血清")
{
abs_tager = resmanager.GetResByCode(exp_pack.GetSampleCode(gel_step.SampleIndex), "T_BJ_SampleRack");
}
else
{
abs_tager = resmanager.GetResByCode(liquidinfo.LiquidType, "T_BJ_AgentiaWarehouse");
}
System.Diagnostics.Debug.Assert(abs_tager != null);
action_point.x = abs_tager.InjectorX;
action_point.y = abs_tager.InjectorY;
action_point.z = abs_tager.InjectorZ;
}
else if (action_point.type == TestStepEnum.MixLiquid)
{
//查找deep盘
ResInfoData deep_plane = resmanager.GetResByCode(gel_step.MixCode, "T_BJ_DeepPlate");
if (deep_plane == null)
{
//deep_plane = resmanager.GetFreeDeepPlate(5);
deep_plane = resmanager.GetResByCode("null", "T_BJ_DeepPlate");
deep_plane.Values[deep_plane.CountX, deep_plane.CountY] = deep_plane;
}
System.Diagnostics.Debug.Assert(deep_plane != null);
if (deep_plane.FindCode(gel_step.MixCode, false) == false)
{
deep_plane.AddCode(gel_step.MixCode);
}
action_point.x = deep_plane.InjectorX;
action_point.y = deep_plane.InjectorY;
action_point.z = deep_plane.InjectorZ;
}
else if (action_point.type == TestStepEnum.SpuLiquid)
{
//查找gel卡
ResInfoData gel_seat = resmanager.GetResByCode(exp_pack.GetGelMask(), "T_BJ_GelSeat");
System.Diagnostics.Debug.Assert(gel_seat != null);
action_point.x = gel_seat.InjectorX;
action_point.y = gel_seat.InjectorY;
action_point.z = gel_seat.InjectorZ;
action_point.tube_gap = gel_seat.InjectorGap;
}
}
return(action_point);
}