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 GalilRotationSwitchOnRoutine : RoutineBase, IRoutine
    {
        private enum SwitchOnStep
        {
            WriteTargetPosition,
            SwitchOn,
            End
        }

        #region 常量 
        private const string TARGET_POSITION = "TargetPosition";
        #endregion

        #region 内部变量
        private JetAxisBase _axis;
        #endregion
        public GalilRotationSwitchOnRoutine(string module,JetAxisBase axis) : base(module)
        {
            _axis = axis;
        }

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

        public RState Monitor()
        {
            Runner.Run(SwitchOnStep.WriteTargetPosition, WriteTargetPosition, _delay_1ms)
                .Run(SwitchOnStep.SwitchOn, SwitchOn,CheckSwitchOn,1000)
                .End(SwitchOnStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 上电
        /// </summary>
        /// <returns></returns>
        private bool SwitchOn()
        {
            return _axis.WriteSwitchOn();
        }
        /// <summary>
        /// 当前位置写入Target
        /// </summary>
        /// <returns></returns>
        private bool WriteTargetPosition()
        {
            int targetPosition =_axis.CalculateValueMultiplyScale(_axis.MotionData.MotorPosition);
            return _axis.WriteAbsolutePosition(targetPosition);
        }
        /// <summary>
        /// 检验上电状态
        /// </summary>
        /// <returns></returns>
        private bool CheckSwitchOn()
        {
            return _axis.IsSwitchOn;
        }
        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, "Switch On");
        }
    }
}