//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;
}
}
