using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace CyberX8_RT.Modules.SRD
{
public class SRDProcessErrorRoutine : RoutineBase, IRoutine
{
private enum ProcessErrorStep
{
RotationStop,
RotationStopWait,
RotationHome,
RotationHomeWait,
Unload,
UnloadWait,
End
}
#region 内部变量
///
/// Rotation Axis
///
private JetAxisBase _rotationAxis;
///
/// unload routine
///
private SRDUnloaderRoutine _unloaderRoutine;
///
/// Rotation是否正在运动
///
private bool _rotationIsRun;
///
/// Rotation是否Homed
///
private bool _rotationIsHomed;
#endregion
///
/// 构造函数
///
///
public SRDProcessErrorRoutine(string module) : base(module)
{
}
///
/// 中止
///
public void Abort()
{
Runner.Stop("Manual Abort");
}
///
/// 监控
///
///
public RState Monitor()
{
Runner.RunIf(ProcessErrorStep.RotationStop, _rotationIsRun, () => AxisStop(_rotationAxis), _delay_1ms)
.WaitWithStopConditionIf(ProcessErrorStep.RotationStopWait, _rotationIsRun, () => { return _rotationAxis.Status == RState.End; },
() => { return _rotationAxis.Status == RState.Failed || _rotationAxis.Status == RState.Timeout; })
.RunIf(ProcessErrorStep.RotationHome, !_rotationIsHomed, () => AxisHome(_rotationAxis), _delay_1ms)
.WaitWithStopConditionIf(ProcessErrorStep.RotationHomeWait, !_rotationIsHomed, () => { return _rotationAxis.Status == RState.End; },
() => { return _rotationAxis.Status == RState.Failed || _rotationAxis.Status == RState.Timeout; })
.Run(ProcessErrorStep.Unload, () => { return _unloaderRoutine.Start(true) == RState.Running; }, _delay_1ms)
.WaitWithStopCondition(ProcessErrorStep.UnloadWait, () => CommonFunction.CheckRoutineEndState(_unloaderRoutine),
() => CommonFunction.CheckRoutineStopState(_unloaderRoutine))
.End(ProcessErrorStep.End, NullFun, _delay_1ms);
return Runner.Status;
}
///
/// axis停止
///
///
///
private bool AxisStop(JetAxisBase jetAxisBase)
{
return jetAxisBase.StopPositionOperation();
}
///
/// axis home
///
///
///
private bool AxisHome(JetAxisBase jetAxisBase)
{
return jetAxisBase.Home(false);
}
///
/// 启动
///
///
///
public RState Start(params object[] objs)
{
_rotationAxis = DEVICE.GetDevice($"{Module}.Rotation");
_rotationIsRun= _rotationAxis.IsRun;
_rotationIsHomed = _rotationAxis.IsHomed;
_unloaderRoutine = new SRDUnloaderRoutine(Module);
return Runner.Start(Module, "start process error");
}
}
}