using Aitex.Core.RT.Routine;
using CyberX8_Core;
using CyberX8_RT.Modules.Transporter;
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 SRDInitializeHomeRoutine : RoutineBase, IRoutine
{
private enum InitializeStep
{
Initialize,
InitializeWait,
SwitchOn,
SwitchOnWait,
Home,
HomeWait,
End
}
#region 内部变量
private SRDInitializeRoutine _initializeRoutine;
private SRDSwitchOnRoutine _switchOnRoutine;
private SRDHomeRoutine _homeRoutine;
#endregion
///
/// 构造函数
///
///
public SRDInitializeHomeRoutine(string module) : base(module)
{
_initializeRoutine = new SRDInitializeRoutine(module);
_switchOnRoutine = new SRDSwitchOnRoutine(module);
_homeRoutine = new SRDHomeRoutine(module);
}
///
/// 中止
///
public void Abort()
{
Runner.Stop("Manual Abort");
}
///
/// 监控
///
///
public RState Monitor()
{
Runner.Run(InitializeStep.Initialize, () => _initializeRoutine.Start() == RState.Running, _delay_1ms)
.WaitWithStopCondition(InitializeStep.InitializeWait, () => CommonFunction.CheckRoutineEndState(_initializeRoutine), () => CommonFunction.CheckRoutineStopState(_initializeRoutine))
.Run(InitializeStep.SwitchOn, () => _switchOnRoutine.Start() == RState.Running, _delay_1ms)
.WaitWithStopCondition(InitializeStep.SwitchOnWait, () => CommonFunction.CheckRoutineEndState(_switchOnRoutine), () => CommonFunction.CheckRoutineStopState(_switchOnRoutine))
.Run(InitializeStep.Home, () => _homeRoutine.Start() == RState.Running, _delay_1ms)
.WaitWithStopCondition(InitializeStep.HomeWait, () => CommonFunction.CheckRoutineEndState(_homeRoutine), () => CommonFunction.CheckRoutineStopState(_homeRoutine))
.End(InitializeStep.End, NullFun, _delay_1ms);
return Runner.Status;
}
///
/// 启动
///
///
///
public RState Start(params object[] objs)
{
return Runner.Start(Module, "Start Initialize Home");
}
}
}