public void PutDownGel()
{
if (this.SelectedBJ == null)
{
return;
}
var resmanager = ResManager.getInstance();
var generater = ActionGenerater.getInstance();
var seque = Sequence.create();
seque.AddAction(MoveTo.create(3000, -1, -1, 0));
var put_gel = resmanager.handseat_resinfo;
if (SelectedBJ is T_BJ_GelSeat gel_seat)
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelSeat", gel_seat.Code, "", SeatIndex);
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
}
else if (SelectedBJ is T_BJ_Centrifuge cen_seat)
{
var put_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", cen_seat.Code, "", SeatIndex);
generater.GeneratePutGelToCent(cen_seat.Code, put_seat, put_gel, ref seque);
}
else if (SelectedBJ is T_BJ_GelWarehouse ware_seat)
{
var put_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", ware_seat.Code, "", SeatIndex);
generater.GeneratePutGelToWare(put_seat, put_gel, ref seque);
}
else if (SelectedBJ is T_BJ_WastedSeat wasted_seat)
{
var put_seat = resmanager.SearchGelCard("T_BJ_WastedSeat", "", "1", SeatIndex);
generater.GeneratePutGelToNormal(put_seat, put_gel, ref seque);
}
seque.runAction(handDevice);
}
public void TakeGel()
{
if (this.SelectedBJ == null)
{
return;
}
var resmanager = ResManager.getInstance();
var generater = ActionGenerater.getInstance();
var seque = Sequence.create();
seque.AddAction(MoveTo.create(handDevice, 3000, -1, -1, 0));
if (SelectedBJ is T_BJ_GelSeat gel_seat)
{
var take_seat = resmanager.SearchGelCard("T_BJ_GelSeat", gel_seat.Code, "", SeatIndex);
generater.GenerateTakeGelFromNormal(take_seat, ref seque);
}
else if (SelectedBJ is T_BJ_Centrifuge cen_seat)
{
var take_seat = resmanager.SearchGelCard("T_BJ_Centrifuge", cen_seat.Code, "", SeatIndex);
var act = generater.GenerateTakeGelFromCent(take_seat, cen_seat.Code, ref seque);
}
else if (SelectedBJ is T_BJ_GelWarehouse ware_seat)
{
var take_seat = resmanager.SearchGelCard("T_BJ_GelWarehouse", ware_seat._Code, "", SeatIndex);
var act = generater.GenerateTakeGelFromWare(take_seat, ref seque);
}
seque.runAction(handDevice);
}
public void Ok()
{
var resmanager = ResManager.getInstance();
var actiongen = ActionGenerater.getInstance();
var GelList = (this.View as ScanSampleView).GelList;
List <T_GelStep> gelstep_list = new List <T_GelStep>();
foreach (var sample in Samples)
{
var test_list = sample.GetTestList();
var gel_list = new List <ResInfoData>();
foreach (var test in test_list)
{
var ware_seat = resmanager.GetResByCode(GelList[test].GelMask + "*", "T_BJ_GelWarehouse", "", "", lastinfo_list);
if (ware_seat == null)
{
ErrorSystem.WriteActError("无卡", true, false);
return;
}
ware_seat.sampleinfo = sample;
lastinfo_list.Add(ware_seat);
gel_list.Add(ware_seat);
}
foreach (var ware_seat in gel_list)
{
var gelend = new T_GelStep();
gelstep_list = gelstep_list.Concat(actiongen.ResolveActions(ware_seat)).ToList();
gelend.StepClass = TestStepEnum.GELEND;
gelstep_list.Add(gelend);
}
}
//破孔位还有多小个
int paperseat_count = 9;
for (int i = 0; i < gelstep_list.Count; i++)
{
if (gelstep_list[i].StepClass == TestStepEnum.LoadGel && paperseat_count > 0)
{
gelstep_list[i].StepIndex = 10000 - i;
paperseat_count--;
}
else
{
gelstep_list[i].StepIndex = 1000 - i;
}
}
gelstep_list.Sort((T_GelStep a, T_GelStep b) => { return(a.StepIndex < b.StepIndex ? 1 : -1); });
var action_tree = actiongen.DivideIntoGroups(gelstep_list, 1);
InjLogicManager.getInstance().AddAction(action_tree);
this.RequestClose();
}
public void Ok()
{
var resmanager = ResManager.getInstance();
var actiongen = ActionGenerater.getInstance();
var GelList = (this.View as ScanSampleView).GelList;
List <T_GelStep> gelstep_list = new List <T_GelStep>();
bool isRepeat = Samples.Where(item => item.Barcode != "").GroupBy(i => i.Barcode).Any(g => g.Count() > 1);
if (isRepeat)
{
ErrorSystem.WriteActError("样本条码有重复!", true, false);
}
else
{
var samples_list = Samples.Where(item => item.Barcode != "").ToList();
foreach (var sample in samples_list)
{
if (sample.Barcode != "")
{
var test_list = sample.GetTestList();
var gel_list = new List <T_Gel>();
foreach (var test in test_list)
{
var gel = GelList[test].clone();
if (gel.IsCrossMatching)
{
//交叉配血
//寻找当前木样本架连续位
var sample_list = GetCrossMatchingSampleInfo(sample);
foreach (var sample_tem in sample_list)
{
gel = GelList[test].clone();
var exp_package = ExperimentPackage.Create(actiongen.ResolveActions(gel), gel.GelMask, sample.Barcode, sample_tem.Barcode, sample.GetLever(), gel.GelType, gel.GelRenFen, gel.AfterKKTime, gel.IsUsedGel, gel.ID, gel.IsCrossMatching, g_batch_id, is_double);
ExperimentLogic.getInstance().AddPackage(exp_package);
}
}
else
{
var exp_package = ExperimentPackage.Create(actiongen.ResolveActions(gel), gel.GelMask, sample.Barcode, "", sample.GetLever(), gel.GelType, gel.GelRenFen, gel.AfterKKTime, gel.IsUsedGel, gel.ID, gel.IsCrossMatching, g_batch_id, is_double);
ExperimentLogic.getInstance().AddPackage(exp_package);
}
}
}
}
ExperimentLogic.getInstance().UpDataAction();
this.RequestClose();
g_batch_id++;
}
}
public override void run(double dt)
{
bool resultx = true;
bool resulty = true;
bool resultz = true;
int device_rx = 0;
int device_cx = 0;
AbstractCanDevice checkdev = null;
var handdev = ActionGenerater.getInstance().handDevice;
var injectdev = ActionGenerater.getInstance().injectorDevice;
if (CountTime(dt))
{
return;
}
var device = new ActionDevice(node);
if (node is InjectorDevice)
{
checkdev = ActionGenerater.getInstance().handDevice;
device_cx = (int)handdev.Hand.XMotor.CurrentDistance;
}
else if (node is MachineHandDevice)
{
checkdev = ActionGenerater.getInstance().injectorDevice;
device_cx = (int)injectdev.Injector.XMotor.CurrentDistance;
}
switch (step)
{
case 0:
if (x >= 0 && checkdev != null && false)
{
sumdt = 0;
wait_time += dt;
if (wait_time > 500)
{
wait_time = 0;
bool is_timeout = false;
if (checkdev is MachineHandDevice)
{
handdev.CanComm.ReadRegister(handdev.Hand.XMotor.RealDistance.Addr);
device_rx = handdev.CanComm.GetIntBlock(handdev.Hand.XMotor.RealDistance.Addr, 1000, out is_timeout);
}
else if (checkdev is InjectorDevice)
{
injectdev.CanComm.ReadRegister(injectdev.Injector.XMotor.RealDistance.Addr);
device_rx = injectdev.CanComm.GetIntBlock(injectdev.Injector.XMotor.RealDistance.Addr, 1000, out is_timeout);
}
if (is_timeout == false)
{
int device_max = 10000 - x;
if (device_max < 0)
{
device_max = 0;
}
if (device_rx <= device_max && device_cx <= device_max)
{
step++;
}
else if (ActionManager.getInstance().getAllRuningActionsCount(checkdev) == 0)
{
Sequence sequ = null;
List <Enterclose> ents = new List <Enterclose>();
ents.Add(injectdev.Injector.Entercloses[0]);
if (checkdev is MachineHandDevice)
{
sequ = Sequence.create(MoveTo.create(checkdev, 3000, -1, -1, 0), MoveTo.create(checkdev, 3000, device_max, -1, -1));
}
else if (checkdev is InjectorDevice)
{
sequ = Sequence.create(InjectMoveTo.create(3000, ents.ToArray(), -1, IMask.Gen(-1), IMask.Gen(0)), MoveTo.create(checkdev, 3000, device_max, -1, -1));
}
sequ.runAction(checkdev);
}
}
}
}
else
{
}
step++;
break;
case 1:
if (x >= 0)
{
resultx = device.MoveX((int)x);
}
if (y >= 0)
{
resulty = device.MoveY((int)y);
}
if (z >= 0)
{
resultz = device.MoveZ((int)z, speed);
}
if (resultx && resulty && resultz)
{
step++;
}
break;
case 2:
if (xdone == false)
{
xdone = device.DoneX();
}
if (ydone == false)
{
ydone = device.DoneY();
}
if (zdone == false)
{
zdone = device.DoneZ();
}
isfinish = xdone && ydone && zdone;
break;
}
}
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);
}
