public static ExperimentLogic getInstance()
{
if (experimentlogic == null)
{
experimentlogic = new ExperimentLogic();
}
return(experimentlogic);
}
public void init()
{
action_manager = ActionManager.getInstance();
res_manager = ResManager.getInstance();
experiment_logic = ExperimentLogic.getInstance();
experiment_logic.handDevice = handDevice;
experiment_logic.piercerDevice = piercerDevice;
experiment_logic.gelwareDevice = gelwareDevice;
experiment_logic.injectorDevice = injectorDevice;
experiment_logic.cenMrg = cenMrg;
experiment_logic.cameraDevice = cameraDevice;
experiment_logic.opDevice = opDevice;
InitRes();
handDevice.CanComm.SetListenFun(handDevice.Hand.ZMotor.GetErrorAdress(), CanFunCodeEnum.UPLOAD_COIL, ErrorCode);
gelwareDevice.CanComm.SetListenFun(gelwareDevice.GelWare.DoorCoil.Addr, CanFunCodeEnum.UPLOAD_COIL, GelWareDoor);
opDevice.CanComm.SetListenFun(opDevice.OP.EmergencyStopCoil.Addr, CanFunCodeEnum.UPLOAD_COIL, StopAll);
isstop = false;
}
public void StopAll(int tagerid, byte[] data)
{
if (data[5] == 0xff)
{
var task = new Task(() =>
{
stop();
handDevice.CanComm.StopMotor(handDevice.Hand.XMotor);
handDevice.CanComm.StopMotor(handDevice.Hand.YMotor);
handDevice.CanComm.StopMotor(handDevice.Hand.ZMotor);
injectorDevice.CanComm.StopMotor(injectorDevice.Injector.XMotor);
foreach (var ent in injectorDevice.Injector.Entercloses)
{
injectorDevice.CanComm.StopMotor(ent.YMotor);
injectorDevice.CanComm.StopMotor(ent.ZMotor);
}
ActionManager.getInstance().removeAllActions();
ExperimentLogic.getInstance().DelAllPackage();
ErrorSystem.WriteActError("系统急停!请重新开机", true, false, 999999);
start();
});
task.Start();
}
}
public void runLoop(double time)
{
lock (lockObj)
{
occupydev_list.Clear();
//运行动作
double dt = time - lasttime;
for (int i = 0; i < actionlist.Count; i++)
{
//设备动作冲突解决
bool is_occupy = false;
bool is_sleep = actionlist[i].getRuningSleepAct().Count != 0;
//占用设备不运行
System.Diagnostics.Debug.Assert(actionlist[i].node != null);
if (findDevInOccList(actionlist[i].node) && is_sleep == false)
{
continue;
}
is_occupy = getAllRuningActionsCount(actionlist[i].node, actionlist[i]) != 0;
if (actionlist[i].isstop == false && (is_occupy == false || is_sleep))
{
if (!actionlist[i].isInit())
{
actionlist[i].init();
}
if (actionlist[i].istimeout == false)
{
actionlist[i].run(dt);
if (is_sleep == false)
{
occupydev_list.Add(actionlist[i].node);
}
}
}
}
//删除完成的动作
for (int i = actionlist.Count - 1; i >= 0; i--)
{
bool isdelete = actionlist[i].getIsDelete();
if (actionlist[i].isfinish || isdelete)
{
var actiontem = actionlist[i];
if (isdelete)
{
ExperimentLogic.getInstance().DrodAllPackage(actiontem.exp_pack);
}
actionlist.Remove(actiontem);
actiontem.Destroy();
}
}
//添加新动作
actionlist = actionlist.Concat(actiontemlist).ToList <ActionBase>();
actiontemlist.Clear();
if (is_sort)
{
actionlist.Sort((a, b) => { return(a.sort_index > b.sort_index ? 1 : -1); });
is_sort = false;
}
lasttime = time;
}
}