public void StartMixer() { var reseque = Sequence.create(); reseque.AddAction(MoveTo.create(couveuseMixerDevice, 10000, -1, -1, 2000)); reseque.AddAction(SKSleep.create(500)); reseque.AddAction(MoveTo.create(couveuseMixerDevice, 10000, -1, -1, 0)); reseque.AddAction(SKSleep.create(15000)); var rep_act = Repeat.create(couveuseMixerDevice, reseque, 99999); rep_act.runAction(couveuseMixerDevice); }
public override ActionBase InitAll() { for (int i = 0; i < CouMixer.Couveuses.Length; i++) { StartHot((byte)i); } var seque = Sequence.create(); var reseque = Sequence.create(); //seque.AddAction(InitXyz.create(this, 3000,false,false,true)); reseque.AddAction(MoveTo.create(this, 3000, -1, -1, 2000)); reseque.AddAction(SKSleep.create(500)); reseque.AddAction(MoveTo.create(this, 3000, -1, -1, 0)); reseque.AddAction(SKSleep.create(15000)); var rep_act = Repeat.create(this, reseque, 99999); rep_act.runAction(this); return(seque); }
//生成加样移动组合 public void GenerateInjectActGroup(ref Sequence seque, ref int index, ref int[] tager, ref int[] point, ref int[] width, ref bool is_ok) { if (index == 4) { is_ok = true; return; } else if (tager[index] == point[index] || tager[index] == -1) { if (tager[index] == point[index]) { List <Enterclose> ents = new List <Enterclose>(); if (index == 0) { var move_act = Sequence.create(); ents.Add(injectorDevice.Injector.Entercloses[index]); move_act.AddAction(InjectMoveTo.create(300000, ents.ToArray(), -1, IMask.Gen(-1), IMask.Gen(400, -1, -1, -1))); move_act.AddAction(InjectMoveTo.create(300000, ents.ToArray(), -1, IMask.Gen(-1), IMask.Gen(0, -1, -1, -1))); seque.AddAction(move_act); } else { var move_act = Sequence.create(); move_act.AddAction(MoveTo.create(handDevice, 300000, -1, -1, 100)); move_act.AddAction(MoveTo.create(handDevice, 300000, -1, -1, 0)); seque.AddAction(move_act); } } index++; GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else { List <int[]> node_list = new List <int[]>(); for (int i = 0; i < 4; i++) { for (int j = i; j < 4; j++) { for (int k = j; k < 4; k++) { for (int l = k; l < 4; l++) { int[] point_tem = { 0, 0, 0, 0 }; point_tem[i] = tager[i]; point_tem[j] = tager[j]; point_tem[k] = tager[k]; point_tem[l] = tager[l]; for (int n = 0; n < 4; n++) { if (point_tem[n] < 0) { point_tem[n] = 0; } } bool ispass = true; int frist = 0; for (int n = 0; n < 4; n++) { if (point_tem[n] != 0) { frist = n; break; } } for (int n = frist; n < 4; n++) { if (point_tem[n] == 0 && n - 1 >= 0) { point_tem[n] = point_tem[n - 1] + width[n]; } } for (int n = 0; n < frist; n++) { if (point_tem[n] == 0 && n + 1 <= 3) { point_tem[n] = point_tem[frist] - width[n] * (frist - n); } } for (int n = 0; n < 4; n++) { bool isforward = n - 1 >= 0 ? point_tem[n] >= point_tem[n - 1] + width[n - 1] : true; bool isback = n + 1 <= 3 ? point_tem[n] + width[n] <= point_tem[n + 1] : true; ispass = isforward && isforward; if (!ispass) { break; } } if (ispass && point_tem[index] == tager[index]) { node_list.Add(point_tem); } } } } } int[] minnode = node_list[0]; foreach (var node in node_list) { if (GetLoss(tager, node) < GetLoss(tager, minnode)) { minnode = node; } } List <int> left = new List <int>(); List <int> right = new List <int>(); for (int i = 0; i < 4; i++) { if (point[i] - minnode[i] < 0) { left.Add(i); } else { right.Add(i); } } left.Sort((a, b) => { return(a < b ? 1 : -1); }); right.Sort((a, b) => { return(a > b ? 1 : -1); }); var movesp_act = Spawn.create(); var move_act = Sequence.create(); string msg = ""; int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; List <Enterclose> ents = new List <Enterclose>(); for (int i = 0; i < left.Count; i++) { int indextem = left[i]; if (point[indextem] != minnode[indextem]) { ents.Add(injectorDevice.Injector.Entercloses[indextem]); yy[indextem] = minnode[indextem]; } } movesp_act.AddAction(InjectMoveTo.create(300000, ents.ToArray(), -1, yy, zz)); ents.Clear(); for (int i = 0; i < right.Count; i++) { int indextem = right[i]; if (point[indextem] != minnode[indextem]) { ents.Add(injectorDevice.Injector.Entercloses[indextem]); yy[indextem] = minnode[indextem]; } } movesp_act.AddAction(InjectMoveTo.create(300000, ents.ToArray(), -1, yy, zz)); //for (int i = 0; i < 4; i++) //{ // for (int j = 0; j < 4; j++) // injectorDevice.Injector.Entercloses[j].Selected = false; // int[] yy = { -1, -1, -1, -1 }; // int[] zz = { -1, -1, -1, -1 }; // if (i < left.Count) // { // //msg = msg + "left " + left[i] + ":" + point[left[i]] + "->" + (minnode[left[i]] + " "); // int indextem = left[i]; // if (point[indextem] !=minnode[indextem]) // { // yy[indextem] = minnode[indextem]; // injectorDevice.Injector.Entercloses[indextem].Selected = true; // movesp_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); // } // } // for (int j = 0; j < 4; j++) // injectorDevice.Injector.Entercloses[j].Selected = false; // if (i < right.Count) // { // //msg = msg + "right " + right[i] + ":" + point[right[i]] + "->" + (minnode[right[i]] + " "); // int indextem = right[i]; // if (point[indextem] != minnode[indextem]) // { // yy[indextem] = minnode[indextem]; // injectorDevice.Injector.Entercloses[indextem].Selected = true; // movesp_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); // } // } //} for (int i = 0; i < 4; i++) { point[i] = minnode[i]; } move_act.AddAction(movesp_act); move_act.AddAction(SKSleep.create(1)); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } }
//生成加样移动 public void GenerateSampleAddAct(ref Sequence seque, ref int index, ref int[] tager, ref int[] point, ref int[] width, ref bool is_ok) { bool isforward = false; bool isback = false; if (index == 4) { is_ok = true; return; } else { isforward = index - 1 >= 0 ? tager[index] >= point[index - 1] + width[index - 1] : true; isback = index + 1 <= 3 ? tager[index] + width[index] <= point[index + 1] : true; } if (tager[index] < 0) { index++; GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward && isback) { //单移 point[index] = tager[index]; int[] y = { -1, -1, -1, -1 }; int[] z = { -1, -1, -1, -1 }; y[index] = point[index] - width[index] * index; z[index] = -1; var move_act = Sequence.create(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, y, z), SKSleep.create(index * 500), MoveTo.create(handDevice, 300000, -1, -1, 100), MoveTo.create(handDevice, 300000, -1, -1, 0)); //查找上一个sp if (seque.actionlist[seque.actionlist.Count() - 1] is Spawn) { var spawn = (Spawn)seque.actionlist[seque.actionlist.Count() - 1]; spawn.AddAction(move_act); } else { var spawn = Spawn.create(); spawn.AddAction(move_act); seque.AddAction(spawn); } index++; GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward && isback == false) { //全移 int movew = tager[index] - point[index]; for (int i = index; i < 4; i++) { point[i] = point[i] + movew; } int indexx = index; int y = point[index] - width[index] * index; var move_act = Sequence.create(SkCallBackFun.create((ActionBase act) => { for (int i = 0; i < 4; i++) { injectorDevice.Injector.Entercloses[i].Selected = i >= indexx; } return(true); }), MoveTo.create(injectorDevice, 300000, -1, y, -1)); seque.AddAction(move_act); GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward == false && isback) { //等待前面完成 int movew = tager[index] - point[index]; for (int i = 0; i < 4; i++) { point[i] = point[i] + movew; if (point[i] < 0) { is_ok = false; return; } } int y = point[0]; var move_act = Sequence.create(SkCallBackFun.create((ActionBase act) => { for (int i = 0; i < 4; i++) { injectorDevice.Injector.Entercloses[i].Selected = true; } return(true); }), MoveTo.create(injectorDevice, 300000, -1, y, -1)); seque.AddAction(move_act); GenerateSampleAddAct(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } }
//生成加样移动组合 public void GenerateInjectActGroup(ref Sequence seque, ref int index, ref ActionPoint[] tager, ref int[] point, ref int[] width, ref bool is_ok, ActionBase move_x = null, Spawn move_zt = null) { if (index == 4) { is_ok = true; return; } else if (tager[index].y == point[index] || tager[index].y == -1) { if (tager[index].y == point[index]) { var action_point = tager[index]; var move_act = Sequence.create(); List <Enterclose> ents = new List <Enterclose>(); int[] injz = IMask.Gen(-1); int[] injzl = IMask.Gen(-1); int[] injzd = IMask.Gen(-1); ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[index]); move_act.AddAction(SkWaitForAction.create(move_x)); if (action_point.type == TestStepEnum.JXZT) { int[] absorbs = IMask.Gen(-1); var injact_sp = Spawn.create(); injz[index] = action_point.z; absorbs[index] = (int)ents[0].PumpMotor.Maximum.SetValue; injact_sp.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2)); injact_sp.AddAction(InjectAbsorbMove.create(3001, ents.ToArray(), 100, absorbs)); move_act.AddAction(injact_sp); injz[index] = action_point.zb; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); } else if (action_point.type == TestStepEnum.PutTip) { injz[index] = action_point.z; var sequ = Sequence.create(); sequ.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2)); sequ.AddAction(MoveTo.create(3001, action_point.puttip_x, -1, -1)); injz[index] = action_point.z - 1000; sequ.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 100)); injz[index] = action_point.zb; sequ.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); move_act.AddAction(sequ); } else if (action_point.type == TestStepEnum.AbsLiquid) { int[] absorbs = IMask.Gen(-1); absorbs[index] = -(action_point.capacity); move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 0)); injz[index] = action_point.z + action_point.deep; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, action_point.deepspeed)); move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.absbspeed, absorbs)); //回吸 var back_act = Spawn.create(); if (action_point.backcapacity != 0) { absorbs[index] = -(action_point.backcapacity); back_act.AddAction(Sequence.create(SKSleep.create(500), InjectAbsorb.create(3001, ents.ToArray(), action_point.backspeed, absorbs))); } injz[index] = action_point.zb; back_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); move_act.AddAction(back_act); } else if (action_point.type == TestStepEnum.FollowAbsLiquid) { int[] absorbs = IMask.Gen(-1); injz[index] = action_point.z; injzl[index] = action_point.z + action_point.detectordeep; injzd[index] = action_point.deep; absorbs[index] = -(action_point.capacity); move_act.AddAction(InjectDetector.create(3001, ents.ToArray(), injz, injzl, injzd, 2, 1)); move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.absbspeed, absorbs)); //回吸 var back_act = Spawn.create(); if (action_point.backcapacity != 0) { absorbs[index] = -(action_point.backcapacity); back_act.AddAction(Sequence.create(SKSleep.create(500), InjectAbsorb.create(3001, ents.ToArray(), action_point.backspeed, absorbs))); } injz[index] = action_point.zb; back_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); move_act.AddAction(back_act); } else if (action_point.type == TestStepEnum.SpuLiquid) { int[] absorbs = IMask.Gen(-1); injz[index] = action_point.z; absorbs[index] = action_point.spucapacity + action_point.backcapacity; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2)); move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.spuspeed, absorbs)); //回吸 var back_act = Spawn.create(); if (action_point.backcapacity != 0) { absorbs[index] = -(action_point.backcapacity); back_act.AddAction(Sequence.create(SKSleep.create(100), InjectAbsorb.create(3001, ents.ToArray(), action_point.backcapacity, absorbs))); } injz[index] = action_point.zb; back_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); move_act.AddAction(back_act); } else if (action_point.type == TestStepEnum.MixLiquid) { int[] absorbs = IMask.Gen(-1); injz[index] = action_point.z; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2)); absorbs[index] = action_point.capacity; move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), 100, absorbs));//把稀释液放进去 //混合操作 if (action_point.mixtimes != 0) { for (int i = 0; i < action_point.mixtimes * 2; i++) { int mixz = action_point.z - action_point.mixdeep;//混合高度 if (mixz <= 0) { mixz = action_point.z; } absorbs[index] = i % 2 == 0 ? -action_point.capacity : action_point.capacity; injz[index] = i % 2 == 0 ? action_point.z: mixz; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2)); move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), 100, absorbs)); } injz[index] = action_point.z; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz, 2)); absorbs[index] = (int)ents[0].PumpMotor.Maximum.SetValue; move_act.AddAction(InjectAbsorbMove.create(3001, ents.ToArray(), 100, absorbs)); absorbs[index] = -(action_point.GetTubeList().Count *action_point.spucapacity); move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), 100, absorbs)); } //回吸 if (action_point.backcapacity != 0) { injz[index] = action_point.z; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); absorbs[index] = -(action_point.backcapacity); move_act.AddAction(InjectAbsorb.create(3001, ents.ToArray(), action_point.backspeed, absorbs)); } injz[index] = action_point.zb; move_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, IMask.Gen(-1), injz)); } //查找前面的 if (move_zt != null) { move_zt.AddAction(move_act); } else { seque.AddAction(move_act); } } index++; GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok, move_x, move_zt); } else { List <int[]> node_list = new List <int[]>(); for (int i = 0; i < 4; i++) { for (int j = i; j < 4; j++) { for (int k = j; k < 4; k++) { for (int l = k; l < 4; l++) { int[] point_tem = { 0, 0, 0, 0 }; point_tem[i] = tager[i].y; point_tem[j] = tager[j].y; point_tem[k] = tager[k].y; point_tem[l] = tager[l].y; for (int n = 0; n < 4; n++) { if (point_tem[n] < 0) { point_tem[n] = 0; } } bool ispass = true; int frist = 0; for (int n = 0; n < 4; n++) { if (point_tem[n] != 0) { frist = n; break; } } for (int n = frist; n < 4; n++) { if (point_tem[n] == 0 && n - 1 >= 0) { point_tem[n] = point_tem[n - 1] + width[n]; } } for (int n = 0; n < frist; n++) { if (point_tem[n] == 0 && n + 1 <= 3) { point_tem[n] = point_tem[frist] - width[n] * (frist - n); } } for (int n = 0; n < 4; n++) { bool isforward = n - 1 >= 0 ? point_tem[n] >= point_tem[n - 1] + width[n - 1] : true; bool isback = n + 1 <= 3 ? point_tem[n] + width[n] <= point_tem[n + 1] : true; ispass = isforward && isforward; if (!ispass) { break; } } if (ispass && point_tem[index] == tager[index].y) { node_list.Add(point_tem); } } } } } int[] minnode = node_list[0]; foreach (var node in node_list) { if (GetLoss(tager, node) < GetLoss(tager, minnode)) { minnode = node; } } List <int> left = new List <int>(); List <int> right = new List <int>(); for (int i = 0; i < 4; i++) { if (point[i] - minnode[i] < 0) { left.Add(i); } else { right.Add(i); } } left.Sort((a, b) => { return(a < b ? 1 : -1); }); right.Sort((a, b) => { return(a > b ? 1 : -1); }); var movesp_act = Spawn.create(); var move_act = Sequence.create(); string msg = ""; int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; List <Enterclose> ents = new List <Enterclose>(); for (int i = 0; i < left.Count; i++) { int indextem = left[i]; if (point[indextem] != minnode[indextem]) { ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[indextem]); yy[indextem] = minnode[indextem]; } } movesp_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, yy, zz)); ents.Clear(); for (int i = 0; i < right.Count; i++) { int indextem = right[i]; if (point[indextem] != minnode[indextem]) { ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[indextem]); yy[indextem] = minnode[indextem]; } } movesp_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, yy, zz)); for (int i = 0; i < 4; i++) { point[i] = minnode[i]; } move_act.AddAction(movesp_act); //同步Z动作 var spawz_action = Spawn.create(); move_act.AddAction(spawz_action); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok, move_x, spawz_action); } }
//生成加样移动组合 public void GenerateInjectActGroup(ref Sequence seque, int [] hitsort, ref int index, ref ActionPoint[] tager, ref int[] point, ref int[] width, ref double[] width_rate, ref bool is_ok, ActionBase move_x = null) { int hit_index = 0; if (index < 4) { hit_index = hitsort[index]; } if (index == 4) { is_ok = true; return; } else if ((tager[hit_index].isdone && tager[hit_index].y == point[hit_index]) || tager[hit_index].y == -1) { index++; GenerateInjectActGroup(ref seque, hitsort, ref index, ref tager, ref point, ref width, ref width_rate, ref is_ok, move_x); } else { List <int[]> node_list = new List <int[]>(); int[] width_tem = IMask.Gen(0); for (int i = 0; i < 4; i++) { width_tem[i] = (int)(width[i] * width_rate[hit_index]); } for (int i = 0; i < 4; i++) { for (int j = i; j < 4; j++) { for (int k = j; k < 4; k++) { for (int l = k; l < 4; l++) { int[] point_tem = { 0, 0, 0, 0 }; point_tem[i] = tager[i].y; point_tem[j] = tager[j].y; point_tem[k] = tager[k].y; point_tem[l] = tager[l].y; for (int n = 0; n < 4; n++) { if (point_tem[n] < 0) { point_tem[n] = 0; } } bool ispass = true; int frist = 0; for (int n = 0; n < 4; n++) { if (point_tem[n] != 0) { frist = n; break; } } for (int n = frist; n < 4; n++) { if (point_tem[n] == 0 && n - 1 >= 0) { point_tem[n] = point_tem[n - 1] + width_tem[n]; } } for (int n = 0; n < frist; n++) { if (point_tem[n] == 0 && n + 1 <= 3) { point_tem[n] = point_tem[frist] - width_tem[n] * (frist - n); } } for (int n = 0; n < 4; n++) { bool isforward = n - 1 >= 0 ? point_tem[n] >= point_tem[n - 1] + width_tem[n - 1] : true; bool isback = n + 1 <= 3 ? point_tem[n] + width_tem[n] <= point_tem[n + 1] : true; ispass = isforward && isforward; if (!ispass) { break; } } if (ispass && point_tem[hit_index] == tager[hit_index].y) { node_list.Add(point_tem); } } } } } int[] minnode = node_list[0]; foreach (var node in node_list) { if (GetLoss(tager, node) < GetLoss(tager, minnode)) { minnode = node; } } List <int> left = new List <int>(); List <int> right = new List <int>(); for (int i = 0; i < 4; i++) { if (point[i] - minnode[i] < 0) { left.Add(i); } else { right.Add(i); } } left.Sort((a, b) => { return(a < b ? 1 : -1); }); right.Sort((a, b) => { return(a > b ? 1 : -1); }); var movesp_act = Spawn.create(); var move_act = Sequence.create(); string msg = ""; int[] yy = IMask.Gen(-1); int[] zz = IMask.Gen(-1); List <Enterclose> ents = new List <Enterclose>(); for (int i = 0; i < left.Count; i++) { int indextem = left[i]; if (point[indextem] != minnode[indextem]) { ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[indextem]); yy[indextem] = minnode[indextem]; } } for (int i = 0; i < right.Count; i++) { int indextem = right[i]; if (point[indextem] != minnode[indextem]) { ents.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[indextem]); yy[indextem] = minnode[indextem]; } } movesp_act.AddAction(InjectMoveTo.create(3001, ents.ToArray(), -1, yy, zz)); for (int i = 0; i < 4; i++) { point[i] = minnode[i]; } move_act.AddAction(movesp_act); //得到到达的点 List <ActionPoint> done_points = new List <ActionPoint>(); List <Enterclose> entcloses = new List <Enterclose>(); for (int i = 0; i < 4; i++) { if (tager[i].y == point[i] && tager[i].isdone == false) { done_points.Add(tager[i]); entcloses.Add(Engine.getInstance().injectorDevice.Injector.Entercloses[i]); tager[i].isdone = true; } } var run_act = Sequence.create(); //对到达的点进行分类生成 int[] injz = IMask.Gen(-1); int[] injzl = IMask.Gen(-1); int[] injzd = IMask.Gen(-1); int[] absorbs = IMask.Gen(-1); run_act.AddAction(SkWaitForAction.create(move_x)); if (done_points.Count != 0) { if (done_points[0].type == TestStepEnum.JXZT) { var injact_sp = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z; absorbs[entcloses[i].Index] = (int)entcloses[0].PumpMotor.Maximum.SetValue; } injact_sp.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2)); injact_sp.AddAction(InjectAbsorbMove.create(3001, entcloses.ToArray(), 100, absorbs)); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].zb; } run_act.AddAction(injact_sp); run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz)); } else if (done_points[0].type == TestStepEnum.PutTip) { var sequ = Sequence.create(); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z; } sequ.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2)); sequ.AddAction(MoveTo.create(3001, done_points[0].puttip_x, -1, -1)); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z - 1000; } sequ.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 1)); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].zb; } sequ.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz)); run_act.AddAction(sequ); } else if (done_points[0].type == TestStepEnum.AbsLiquid) { run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), IMask.Gen(-1), 0)); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z + done_points[i].deep; absorbs[entcloses[i].Index] = -(done_points[i].capacity); } run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, done_points[0].deepspeed)); run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), done_points[0].absbspeed, absorbs)); //回吸 var back_act = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { if (done_points[i].backcapacity != 0) { absorbs[entcloses[i].Index] = -(done_points[i].backcapacity); List <Enterclose> ent_tem = new List <Enterclose>(); ent_tem.Add(entcloses[i]); back_act.AddAction(Sequence.create(SKSleep.create(200), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs))); } } for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].zb; } back_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz)); run_act.AddAction(back_act); } else if (done_points[0].type == TestStepEnum.FollowAbsLiquid) { for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z; injzl[entcloses[i].Index] = done_points[i].z + done_points[i].detectordeep; injzd[entcloses[i].Index] = done_points[i].deep; absorbs[entcloses[i].Index] = -(done_points[i].capacity); } run_act.AddAction(InjectDetector.create(3001, entcloses.ToArray(), injz, injzl, injzd, 2, 1)); run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), done_points[0].absbspeed, absorbs)); //回吸 var back_act = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { if (done_points[i].backcapacity != 0) { absorbs[entcloses[i].Index] = -(done_points[i].backcapacity); List <Enterclose> ent_tem = new List <Enterclose>(); ent_tem.Add(entcloses[i]); back_act.AddAction(Sequence.create(SKSleep.create(200), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs))); } } for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].zb; } back_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz)); run_act.AddAction(back_act); } else if (done_points[0].type == TestStepEnum.SpuLiquid) { for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z; absorbs[entcloses[i].Index] = done_points[i].spucapacity + done_points[i].backcapacity; } run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2)); run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), done_points[0].spuspeed, absorbs)); //回吸 var back_act = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { if (done_points[i].backcapacity != 0) { absorbs[entcloses[i].Index] = -(done_points[i].backcapacity); List <Enterclose> ent_tem = new List <Enterclose>(); ent_tem.Add(entcloses[i]); back_act.AddAction(Sequence.create(SKSleep.create(200), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs))); } } for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].zb; } back_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz)); run_act.AddAction(back_act); } else if (done_points[0].type == TestStepEnum.MixLiquid) { for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].z; absorbs[entcloses[i].Index] = done_points[i].capacity + done_points[i].backcapacity; } run_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz, 2)); run_act.AddAction(InjectAbsorb.create(3001, entcloses.ToArray(), 100, absorbs));//把稀释液放进去 //混合操作 var mix_act = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { List <Enterclose> ent_tem = new List <Enterclose>(); ent_tem.Add(entcloses[i]); var mix_seq_act = Sequence.create(); if (done_points[i].mixtimes != 0) { for (int j = 0; j < done_points[i].mixtimes * 2; j++) { int mixz = done_points[i].z - done_points[i].mixdeep;//混合高度 if (mixz <= 0) { mixz = done_points[i].z; } absorbs[entcloses[i].Index] = j % 2 == 0 ? -done_points[i].capacity : done_points[i].capacity; injz[entcloses[i].Index] = j % 2 == 0 ? done_points[i].z : mixz; mix_seq_act.AddAction(InjectMoveTo.create(3001, ent_tem.ToArray(), -1, IMask.Gen(-1), injz, 2)); mix_seq_act.AddAction(InjectAbsorb.create(30001, ent_tem.ToArray(), 100, absorbs)); } injz[entcloses[i].Index] = done_points[i].z; mix_seq_act.AddAction(InjectMoveTo.create(3001, ent_tem.ToArray(), -1, IMask.Gen(-1), injz, 2)); absorbs[entcloses[i].Index] = (int)ent_tem[0].PumpMotor.Maximum.SetValue; mix_seq_act.AddAction(InjectAbsorbMove.create(3001, ent_tem.ToArray(), 100, absorbs)); absorbs[entcloses[i].Index] = -(done_points[i].GetTubeList().Count *done_points[i].spucapacity); mix_seq_act.AddAction(InjectAbsorb.create(3001, ent_tem.ToArray(), 100, absorbs)); } mix_act.AddAction(mix_seq_act); } run_act.AddAction(mix_act); var zb_act = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { injz[entcloses[i].Index] = done_points[i].zb; } zb_act.AddAction(InjectMoveTo.create(3001, entcloses.ToArray(), -1, IMask.Gen(-1), injz)); //回吸 var back_act = Spawn.create(); for (int i = 0; i < done_points.Count; i++) { List <Enterclose> ent_tem = new List <Enterclose>(); ent_tem.Add(entcloses[i]); if (done_points[i].backcapacity != 0 && done_points[i].mixtimes != 0) { absorbs[entcloses[i].Index] = -(done_points[i].backcapacity); back_act.AddAction(Sequence.create(SKSleep.create(500), InjectAbsorb.create(3001, ent_tem.ToArray(), done_points[i].backspeed, absorbs))); } } zb_act.AddAction(back_act); run_act.AddAction(zb_act); } } move_act.AddAction(run_act); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, hitsort, ref index, ref tager, ref point, ref width, ref width_rate, ref is_ok, move_x); } }
// public Sequence GenerateInjectActGroup(ActionPoint[] tagers, bool is_asc = true, double [] width_rate = null) { int[] point = { 0, 0, 0, 0 }; int[] width = { 0, 0, 0, 0 }; //目标要根据针头偏移 for (int i = 0; i < tagers.Length; i++) { tagers[i].index = i; } //删除为负数的参数 if (width_rate == null) { width_rate = IMask.Gen(1.0f); } tagers = tagers.ToList().Where(item => item.y >= 0).ToArray(); for (int i = 0; i < 4; i++) { bool is_timeout = false; width[i] = (int)((double)Engine.getInstance().injectorDevice.Injector.Entercloses[i].InjWidth); //得到当前各别样Y轴坐标 Engine.getInstance().injectorDevice.CanComm.ReadRegister(Engine.getInstance().injectorDevice.Injector.Entercloses[i].YMotor.RealDistance.Addr); int pointtem = Engine.getInstance().injectorDevice.CanComm.GetIntBlock(Engine.getInstance().injectorDevice.Injector.Entercloses[i].YMotor.RealDistance.Addr, 1000, out is_timeout); point[i] = pointtem + (int)Engine.getInstance().injectorDevice.Injector.Entercloses[i].TipDis; if (is_timeout) { return(null); } } //接X分组 List <ActionPoint> tager_list = tagers.ToList(); List <List <ActionPoint> > tager_group = new List <List <ActionPoint> >(); if (is_asc) { tager_list.Sort((a, b) => { return(a.x > b.x ? 1 : -1); }); } else { tager_list.Sort((a, b) => { return(a.x < b.x ? 1 : -1); }); } int x = -10; foreach (var tagerp in tager_list) { if (tagerp.x != x) { var group = new List <ActionPoint>(); group.Add(tagerp); tager_group.Add(group); x = tagerp.x; } else if (tager_group.Count != 0) { tager_group[tager_group.Count - 1].Add(tagerp); } } //生成动作组合 int index = 0; bool is_ok = false; var seque = Sequence.create(); foreach (var group in tager_group) { var move_y = Sequence.create(); ActionPoint[] tager = IMask.Gen(new ActionPoint(-1, -1, -1)); var tager_sort = IMask.Gen(new ActionPoint(-1, -1, -1)).ToList(); for (int i = 0; i < group.Count(); i++) { tager[group[i].index] = group[i]; tager_sort[group[i].index] = group[i]; } index = 0; int[] hit_sort = { 0, 1, 2, 3 }; //y轴顺序排列 tager_sort.Sort((a, b) => { return(a.hitsort <= b.hitsort ? 1 : -1); }); for (int i = 0; i < tager_sort.Count(); i++) { hit_sort[i] = tager_sort[i].index; } var spawn = Spawn.create(); ActionBase move_x = null; if (group[0].x != -1) { move_x = (ActionBase)MoveTo.create(3001, group[0].x, -1, -1); } else { move_x = SKSleep.create(0); } GenerateInjectActGroup(ref move_y, hit_sort, ref index, ref tager, ref point, ref width, ref width_rate, ref is_ok, move_x); if (is_ok) { spawn.AddAction(move_x); spawn.AddAction(move_y); seque.AddAction(spawn); } else { break; } } return(seque); }
//生成加样移动组合 public void GenerateInjectActGroup(ref Sequence seque, ref int index, ref int[] tager, ref int[] point, ref int[] width, ref bool is_ok) { if (index == 4) { is_ok = true; return; } bool isforward = index - 1 >= 0 ? tager[index] >= point[index - 1] + width[index - 1] : true; bool isback = index + 1 <= 3 ? tager[index] + width[index] <= point[index + 1] : true; if (tager[index] < 0) { index++; GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward && isback) { //单移 bool is_moveok = point[index] == tager[index];//是否已经在那个位置了 point[index] = tager[index]; int[] y = { -1, -1, -1, -1 }; int[] z = { -1, -1, -1, -1 }; y[index] = point[index]; z[index] = -1; for (int i = 0; i < 4; i++) { injectorDevice.Injector.Entercloses[i].Selected = i == index; } var move_act = Sequence.create(); if (is_moveok == false) { move_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, y, z)); } if (index == 0) { move_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(400, -1, -1, -1))); move_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0, -1, -1, -1))); } else { move_act.AddAction(MoveTo.create(handDevice, 300000, -1, -1, 100)); move_act.AddAction(MoveTo.create(handDevice, 300000, -1, -1, 0)); } //查找上一个sp if (seque.actionlist.Count != 0 && seque.actionlist[seque.actionlist.Count() - 1] is Spawn) { int inster = is_moveok?0:1; var spawn = (Spawn)seque.actionlist[seque.actionlist.Count() - 1]; if (index != 0) { move_act.actionlist.Insert(inster, SKSleep.create(spawn.actionlist.Count * 1000)); } spawn.AddAction(move_act); } else { var spawn = Spawn.create(); spawn.AddAction(move_act); seque.AddAction(spawn); } index++; GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward == false || isback == false) { int movew = tager[index] - point[index]; int[] stori = isback ? IMask.Gen(0, 1, 2, 3): IMask.Gen(3, 2, 1, 0); int count = isback ? (index + 1) : (4 - index); int fx = isback ? -1 : 1; int[] pointtem = { point[0], point[1], point[2], point[3] }; for (int i = 0; i < count; i++) { if (pointtem[stori[i]] + movew >= 0) { pointtem[stori[i]] = pointtem[stori[i]] + movew; } else { pointtem[stori[i]] = tager[index] + width[stori[i]] * (stori[i] - index); } if (pointtem[stori[i]] < 0) { is_ok = false; return; } } var movesp_act = Spawn.create(); var move_act = Sequence.create(); for (int i = 0; i < count; i++) { int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; int indextem = stori[i]; point[indextem] = pointtem[indextem]; for (int j = 0; j < 4; j++) { injectorDevice.Injector.Entercloses[j].Selected = false; } yy[indextem] = point[indextem]; injectorDevice.Injector.Entercloses[indextem].Selected = true; movesp_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); } move_act.AddAction(movesp_act); move_act.AddAction(SKSleep.create(1)); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } }
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); }
//生成加样移动组合 public void GenerateInjectActGroup(ref Sequence seque, ref int index, ref int[] tager, ref int[] point, ref int[] width, ref bool is_ok) { bool isforward = false; bool isback = false; if (index == 4) { is_ok = true; return; } else { isforward = index - 1 >= 0 ? tager[index] >= point[index - 1] + width[index - 1] : true; isback = index + 1 <= 3 ? tager[index] + width[index] <= point[index + 1] : true; } if (tager[index] < 0) { index++; GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward && isback) { //单移 bool is_moveok = point[index] == tager[index];//是否已经在那个位置了 point[index] = tager[index]; int[] y = { -1, -1, -1, -1 }; int[] z = { -1, -1, -1, -1 }; y[index] = point[index]; z[index] = -1; for (int i = 0; i < 4; i++) { injectorDevice.Injector.Entercloses[i].Selected = i == index; } var move_act = Sequence.create(); if (is_moveok == false) { move_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, y, z)); } if (index == 0) { move_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(400, -1, -1, -1))); move_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, IMask.Gen(-1), IMask.Gen(0, -1, -1, -1))); } else { move_act.AddAction(MoveTo.create(handDevice, 300000, -1, -1, 100)); move_act.AddAction(MoveTo.create(handDevice, 300000, -1, -1, 0)); } //查找上一个sp if (seque.actionlist.Count != 0 && seque.actionlist[seque.actionlist.Count() - 1] is Spawn) { int inster = is_moveok?0:1; var spawn = (Spawn)seque.actionlist[seque.actionlist.Count() - 1]; if (index != 0) { move_act.actionlist.Insert(inster, SKSleep.create(spawn.actionlist.Count * 1000)); } spawn.AddAction(move_act); } else { var spawn = Spawn.create(); spawn.AddAction(move_act); seque.AddAction(spawn); } index++; GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else if (isforward && isback == false) { //全移 int movew = tager[index] - point[index]; bool is_once = true; for (int i = 0; i <= index; i++) { if (point[i] + movew > 20000) { is_once = false; break; } } if (is_once) { int injcount = index + 1; for (int i = index; i < injcount; i++) { point[i] = point[i] + movew; bool is_pass = i + 1 <= 3 ? point[i] + width[i] <= point[i + 1] : true; if (!is_pass) { injcount++; } } int indexx = index; int y = point[index]; //全轴 //var move_act = Sequence.create(SkCallBackFun.create((ActionBase act) => //{ // for (int i = 0; i < 4; i++) // injectorDevice.Injector.Entercloses[i].Selected = false; // for (int i = indexx; i < injcount; i++) // injectorDevice.Injector.Entercloses[i].Selected = true; // return true; //}), MoveTo.create(injectorDevice, 300000, -1, y, -1)); //单轴测 var movesp_act = Spawn.create(); var move_act = Sequence.create(); List <ActionBase> actlist = new List <ActionBase>(); for (int i = indexx; i < injcount; i++) { int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; for (int j = 0; j < 4; j++) { injectorDevice.Injector.Entercloses[j].Selected = false; } injectorDevice.Injector.Entercloses[i].Selected = true; yy[i] = point[i]; actlist.Add(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); } for (int i = actlist.Count - 1; i >= 0; i--) { movesp_act.AddAction(actlist[i]); } move_act.AddAction(movesp_act); move_act.AddAction(SKSleep.create(1)); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else { int[] pointtem = { -1, -1, -1, -1 }; var movesp_act = Spawn.create(); var move_act = Sequence.create(); for (int i = indexx; i < injcount; i++) { pointtem[i] = tager[index] - width[i] * (index - i); if (pointtem[i] < 0) { is_ok = false; return; } } for (int i = 0; i <= index; i++) { int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; point[i] = pointtem[i]; for (int j = 0; j < 4; j++) { injectorDevice.Injector.Entercloses[j].Selected = false; } yy[i] = point[i]; injectorDevice.Injector.Entercloses[i].Selected = true; movesp_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); } move_act.AddAction(movesp_act); move_act.AddAction(SKSleep.create(1)); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } } else if (isforward == false && isback) { //等待前面完成 int movew = tager[index] - point[index]; bool is_once = true; for (int i = 0; i <= index; i++) { if (point[i] + movew < 0) { is_once = false; break; } } if (is_once) { for (int i = 0; i <= index; i++) { point[i] = point[i] + movew; } int y = point[0]; int count = index; //全轴 //var move_act = Sequence.create(SkCallBackFun.create((ActionBase act) => { // for (int i = 0; i < count; i++) // injectorDevice.Injector.Entercloses[i].Selected = true; // return true; //}), MoveTo.create(injectorDevice, 300000, -1, y, -1)); //单轴测 var movesp_act = Spawn.create(); var move_act = Sequence.create(); for (int i = 0; i <= count; i++) { int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; for (int j = 0; j < 4; j++) { injectorDevice.Injector.Entercloses[j].Selected = false; } yy[i] = point[i]; injectorDevice.Injector.Entercloses[i].Selected = true; movesp_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); } move_act.AddAction(movesp_act); move_act.AddAction(SKSleep.create(1)); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } else { int[] pointtem = { -1, -1, -1, -1 }; var movesp_act = Spawn.create(); var move_act = Sequence.create(); for (int i = 0; i <= index; i++) { pointtem[i] = tager[index] - width[i] * (index - i); if (pointtem[i] < 0) { is_ok = false; return; } } for (int i = 0; i <= index; i++) { int[] yy = { -1, -1, -1, -1 }; int[] zz = { -1, -1, -1, -1 }; point[i] = pointtem[i]; for (int j = 0; j < 4; j++) { injectorDevice.Injector.Entercloses[j].Selected = false; } yy[i] = point[i]; injectorDevice.Injector.Entercloses[i].Selected = true; movesp_act.AddAction(InjectMoveTo.create(300000, injectorDevice.GetSeleteced(), -1, yy, zz)); } move_act.AddAction(movesp_act); move_act.AddAction(SKSleep.create(1)); seque.AddAction(move_act); GenerateInjectActGroup(ref seque, ref index, ref tager, ref point, ref width, ref is_ok); } } }