using DataEntity.Rack;
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using DataRWDAL;
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using DriverLib.Engine;
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using HxEnum;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Xml;
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using XCoreBLL.Resource;
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using XImagingXhandler.XDAL;
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namespace XCore
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{
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public class GripTransportBll
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{
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#region 获取抓板方向
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/// <summary>
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/// 获取抓板方向
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/// </summary>
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/// <param name="softwareDevicNumber"></param>
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/// <returns></returns>
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public List<GripTransportModel> GenerateGripTransportModel(string softwareDevicNumber)
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{
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List<GripTransportModel> gripTransportModels= new List<GripTransportModel>();
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GripTransportModel gripTransportModel = null;
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gripTransportModel = new GripTransportModel();
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gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Right).ToString();
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gripTransportModel.model_name = "夹爪轴心在板位右侧";
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gripTransportModels.Add(gripTransportModel);
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gripTransportModel = new GripTransportModel();
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gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Left).ToString();
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gripTransportModel.model_name = "夹爪轴心在板位左侧";
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gripTransportModels.Add(gripTransportModel);
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gripTransportModel = new GripTransportModel();
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gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Up).ToString(); ;
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gripTransportModel.model_name = "夹爪轴心在板位上侧";
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gripTransportModels.Add(gripTransportModel);
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gripTransportModel = new GripTransportModel();
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gripTransportModel.model_id = EnumManagement.GetEnumValue(GripperModelEnum.Down).ToString(); ;
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gripTransportModel.model_name = "夹爪轴心在板位下侧";
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gripTransportModels.Add(gripTransportModel);
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return gripTransportModels;
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}
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#endregion
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#region 构建抓板时的模式位置数据
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public List<GripTransportModel> GetGripTransportModelPoss()
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{
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List<GripTransportModel> gripTransportModels = new List<GripTransportModel>();
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GripTransportModel gripTransportModel = new GripTransportModel();
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gripTransportModel.model_id = "1";
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gripTransportModel.model_name = "底部";
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gripTransportModels.Add(gripTransportModel);
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gripTransportModel = new GripTransportModel();
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gripTransportModel.model_id = "2";
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gripTransportModel.model_name = "顶部";
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gripTransportModels.Add(gripTransportModel);
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return gripTransportModels;
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}
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#endregion
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string strCurrentCulture = "";
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public GripTransportBll()
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{
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strCurrentCulture = System.Threading.Thread.CurrentThread.CurrentCulture.Name;
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}
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/// <summary>
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/// 生成抓板转移方法的xml节点属性对象
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/// </summary>
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/// <param name="xmlNode">抓板转移方法的xml节点</param>
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/// <returns>抓板转移方法的xml节点属性对象</returns>
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public MethodGripTransport GenerateMethodGripTransport(XmlNode xmlNode)
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{
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MethodGripTransport methodGripTransport = new MethodGripTransport();
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methodGripTransport.isrun = xmlNode.SelectSingleNode("isrun").InnerText;
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methodGripTransport.status = xmlNode.SelectSingleNode("status").InnerText;
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methodGripTransport.name = xmlNode.SelectSingleNode("name").InnerText;
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methodGripTransport.strIndex = xmlNode.SelectSingleNode("strIndex").InnerText;
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methodGripTransport.label = xmlNode.SelectSingleNode("label").InnerText;
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methodGripTransport.armText = xmlNode.SelectSingleNode("arm/text").InnerText;
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methodGripTransport.armValue = xmlNode.SelectSingleNode("arm/value").InnerText;
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#region 来源点位
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methodGripTransport.srcPositionText = xmlNode.SelectSingleNode("sourceLattice/text").InnerText;
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methodGripTransport.srcPositionValue = xmlNode.SelectSingleNode("sourceLattice/value").InnerText;
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methodGripTransport.srcPositionType = Convert.ToInt32(xmlNode.SelectSingleNode("sourceLattice/type").InnerText);
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#endregion
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#region 目标点位
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methodGripTransport.desPositionText = xmlNode.SelectSingleNode("destinationLattice/text").InnerText;
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methodGripTransport.desPositionValue = xmlNode.SelectSingleNode("destinationLattice/value").InnerText;
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methodGripTransport.desPositionType = Convert.ToInt32(xmlNode.SelectSingleNode("destinationLattice/type").InnerText);
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#endregion
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methodGripTransport.gripModelText = xmlNode.SelectSingleNode("gripModel/text").InnerText;
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methodGripTransport.gripModelValue = Convert.ToInt32(xmlNode.SelectSingleNode("gripModel/value").InnerText);
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methodGripTransport.gripModelSetText = xmlNode.SelectSingleNode("gripModelSet/text").InnerText;
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methodGripTransport.gripModelSetValue = Convert.ToInt32(xmlNode.SelectSingleNode("gripModelSet/value").InnerText);
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methodGripTransport.gripPickLabwareText = xmlNode.SelectSingleNode("gripPickObject/text").InnerText;
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methodGripTransport.gripPickLabwareValue = xmlNode.SelectSingleNode("gripPickObject/value").InnerText;
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methodGripTransport.pickPosMode = xmlNode.SelectSingleNode("pickPosMode")!=null? Convert.ToInt32(xmlNode.SelectSingleNode("pickPosMode").InnerText):0;
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methodGripTransport.pickPosValue = xmlNode.SelectSingleNode("pickPosValue") != null ? xmlNode.SelectSingleNode("pickPosValue").InnerText : "0";
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methodGripTransport.gripPlaceLabwareText = xmlNode.SelectSingleNode("gripPlaceObject/text").InnerText;
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methodGripTransport.gripPlaceLabwareValue = xmlNode.SelectSingleNode("gripPlaceObject/value").InnerText;
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methodGripTransport.gripModelPosText = xmlNode.SelectSingleNode("gripModelPos/text").InnerText;
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methodGripTransport.gripModelPosValue = Convert.ToInt32(xmlNode.SelectSingleNode("gripModelPos/value").InnerText);
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methodGripTransport.placePosMode = xmlNode.SelectSingleNode("placePosMode") != null ? Convert.ToInt32(xmlNode.SelectSingleNode("placePosMode").InnerText) : 0;
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methodGripTransport.placePosValue = xmlNode.SelectSingleNode("placePosValue") != null ? xmlNode.SelectSingleNode("placePosValue").InnerText : "0";
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methodGripTransport.transportMode= Convert.ToInt32(xmlNode.SelectSingleNode("transportMode").InnerText);
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methodGripTransport.transportCount = Convert.ToInt32(xmlNode.SelectSingleNode("transportCount").InnerText);
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return methodGripTransport;
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}
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#region 检查所有属性设置是否满足要求
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/// <summary>
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/// 检查所有属性设置是否满足要求
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/// </summary>
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/// <param name="methodAspirate">抓板转移属性对象</param>
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/// <returns>检查所有属性设置是否满足要求</returns>
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public MethodPropertyInfo CheckProperty(MethodGripTransport methodGripTransport)
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{
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MethodPropertyInfo methodPropertyInfo = new MethodPropertyInfo();
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if (strCurrentCulture == "zh-CN")
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{
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methodPropertyInfo.property_tips_info = GripTransportResourceCHS.tipsInfo.ToString();
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if (methodGripTransport.armText == null || methodGripTransport.armText == "")
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{
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methodPropertyInfo.property_name_info = GripTransportResourceCHS.armText.ToString();
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}
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if (methodGripTransport.srcPositionText == null || methodGripTransport.srcPositionText == "")
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{
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methodPropertyInfo.property_name_info = GripTransportResourceCHS.sourceLatticeText.ToString();
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}
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if (methodGripTransport.desPositionText == null || methodGripTransport.desPositionText == "")
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{
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methodPropertyInfo.property_name_info = GripTransportResourceCHS.destinationLatticeText.ToString();
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}
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}
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else if (strCurrentCulture == "en-US")
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{
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methodPropertyInfo.property_tips_info = GripTransportResourceENU.tipsInfo.ToString();
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if (methodGripTransport.armText == null || methodGripTransport.armText == "")
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{
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methodPropertyInfo.property_name_info = GripTransportResourceENU.armText.ToString();
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}
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if (methodGripTransport.srcPositionText == null || methodGripTransport.srcPositionText == "")
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{
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methodPropertyInfo.property_name_info = GripTransportResourceENU.sourceLatticeText.ToString();
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}
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if (methodGripTransport.desPositionText == null || methodGripTransport.desPositionText == "")
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{
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methodPropertyInfo.property_name_info = GripTransportResourceENU.destinationLatticeText.ToString();
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}
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}
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return methodPropertyInfo;
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}
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#endregion
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#region 判断当前板位左右是否有障碍耗材
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/// <summary>
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/// 判断当前板位左右是否有障碍耗材
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/// </summary>
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/// <param name="latticesNode">当前板位数据节点xml</param>
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/// <param name="methodNode">夹爪方法属性参数xml节点对象</param>
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/// <param name="software_device_number">当前设备号</param>
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/// <param name="fGripperBaseHeight">夹爪指尖与夹爪横梁之间距离高度</param>
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/// <param name="isSourceLattice">是否来源板位;1是；2目标板</param>
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/// <returns>0：没有障碍，夹爪正常位抓取；1：较小编号台面有障碍;3:较大编号台面有障碍；2；前后两个都有障碍</returns>
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public int IsExistObstacle(XmlNode latticesNode, XmlNode methodNode, string software_device_number, float fGripperBaseHeight, int isSourceLattice)
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{
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int iResult = 0;
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string strSrcLatticeid = "";
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if (isSourceLattice == 1)
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{
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strSrcLatticeid = methodNode.SelectSingleNode("sourceLattice/value").InnerText;//来源板
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}else if(isSourceLattice==2)
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{
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strSrcLatticeid = methodNode.SelectSingleNode("destinationLattice/value").InnerText;//来源板
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}
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ArrayList arrayList = GetFourDirectionLatticeId(Convert.ToInt32(strSrcLatticeid), software_device_number);
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for (int i = 0; i < arrayList.Count; i++)
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{
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var latticeXn = latticesNode.SelectSingleNode("platform[lattice_id=" + arrayList[i] + "]");
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string strlabwareId = "";
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if (latticeXn != null)
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{
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strlabwareId = latticeXn.SelectSingleNode("labware_id").InnerText;//板位上放的耗材Id
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//数据库读取耗材个总高度
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//判断耗材的高度是否在夹爪的安全抓取范围
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//夹爪正向耗材是在范围;夹爪纵向耗材是在范围;两者都在安全范围；两者都不在安全范围；
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ObservableCollection<XImagingXhandler.XDAL.Labware> labwares = LabwareDB.GetLabware(1, strlabwareId);
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if (labwares.Count == 0)
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{
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labwares = LabwareDB.GetLabware(0, strlabwareId);
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}
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if (labwares.Count >= 1)
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{
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if (labwares[0].labware_height >= fGripperBaseHeight)
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{
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if (arrayList.Count == 1 && ((int)arrayList[i] < Convert.ToInt32(strSrcLatticeid)))
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{
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iResult = 1;
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}
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else if (arrayList.Count == 1 &&((int)arrayList[i] > Convert.ToInt32(strSrcLatticeid)))
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{
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iResult = 3;
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}
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else
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{
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iResult++;
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}
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}
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}
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}
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else
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{
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}
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}
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return iResult;
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}
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#endregion
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#region 根据当前板位Id,获取其四周的板位Id
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/// <summary>
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/// 根据当前板位Id,获取其四周的板位Id
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/// </summary>
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/// <param name="currentLatticeId">当前板位id</param>
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/// <param name="software_device_number">当前设备号</param>
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/// <returns></returns>
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public ArrayList GetFourDirectionLatticeId(int currentLatticeId, string software_device_number)
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{
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ArrayList arrayList= new ArrayList();
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Lattice lattice = LatticeDB.GetLatticeDataByIdFromdb(currentLatticeId.ToString());
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int currentLatticeIndex = Convert.ToInt32(lattice.lattice_num.Substring(1, lattice.lattice_num.Length - 1));
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return arrayList;
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}
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#endregion
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#region 执行抓板，返回结果字符串
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/// <summary>
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/// 执行放板，返回结果字符串
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/// </summary>
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/// <param name="gripTransportMParam">抓板动作参数实体</param>
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/// <param name="isSimulator">0：连接设备；1：虚拟运行</param>
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/// <returns>结果实体对象</returns>
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public HxResult ExecuteGripTransportPick(GripTransportMParam gripTransportMParam, bool isSimulator = false)
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{
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HxResult ret = new HxResult();
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if (!isSimulator)
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{
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ret = MethodAction.Instance.Pick(gripTransportMParam);
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}
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else
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{
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System.Threading.Thread.Sleep(1000);
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ret.Result = ResultType.Success;
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//ret.AlarmInfo = "空测试";
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}
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return ret;
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}
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#endregion
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#region 执行放板，返回结果字符串
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/// <summary>
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/// 执行放板，返回结果字符串
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/// </summary>
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/// <param name="gripTransportMParam">放板动作参数实体</param>
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/// <param name="isSimulator">0：连接设备；1：虚拟运行</param>
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/// <returns>结果实体对象</returns>
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public HxResult ExecuteGripTransportPlace(GripTransportMParam gripTransportMParam, bool isSimulator=false)
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{
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HxResult ret = new HxResult();
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if (!isSimulator)
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{
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ret = MethodAction.Instance.Place(gripTransportMParam);
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}
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else
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{
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System.Threading.Thread.Sleep(1000);
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ret.Result = ResultType.Success;
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}
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return ret;
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}
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#endregion
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}
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}
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