//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); } }