using Aitex.Core.RT.Routine;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.Routine;
using CyberX8_Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.AXIS.GalilLipsel
{
   
    public class GalilRotationSwitchOffRoutine : RoutineBase, IRoutine
    {
        private enum SwitchOffStep
        {
            SwitchOff,
            End
        }
        #region 内部变量
        private JetAxisBase _axis;
        #endregion
        public GalilRotationSwitchOffRoutine(string module,JetAxisBase axis) : base(module)
        {
            _axis = axis;
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }

        public RState Monitor()
        {
            Runner.Run(SwitchOffStep.SwitchOff,SwitchOff,CheckSwitchOff,1000)
                .End(SwitchOffStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 下电
        /// </summary>
        /// <returns></returns>
        public bool SwitchOff()
        {
            return _axis.WriteSwitchOff();
        }

        private bool CheckSwitchOff()
        {
            return !_axis.IsSwitchOn;
        }
        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, "Switch Off");
        }
    }
}