CyberX8/CyberX8_RT/Modules/Transporter/TransporterSwitchOnRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.Transporter
{
    public class TransporterSwitchOnRoutine : RoutineBase, IRoutine
    {
        private enum SwitchOnStep
        {
            Vertical,
            Gantry,
            End
        }
        #region 内部变量
        private JetAxisBase _gantryAxis;
        private JetAxisBase _elevatorAxis;
        private int _timeOut = 1000;
        #endregion
        public TransporterSwitchOnRoutine(string module) : base(module)
        {
        }

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

        public RState Monitor()
        {
            Runner.Run(SwitchOnStep.Vertical, VerticalAxisSwitchOn, CheckVerticalSwitchOn, _timeOut)
                .Run(SwitchOnStep.Gantry, GantryAxisSwitchOn, CheckGantrySwitchOn, _timeOut)
                .End(SwitchOnStep.End,NullFun);

            return Runner.Status; 
        }
       
        private bool VerticalAxisSwitchOn()
        {
            return _elevatorAxis.SwitchOn();
        }

        private bool CheckVerticalSwitchOn()
        {
            return _elevatorAxis.IsSwitchOn&&_elevatorAxis.Status==RState.End;
        }

        private bool GantryAxisSwitchOn()
        {
            return _gantryAxis.SwitchOn();
        }
        private bool CheckGantrySwitchOn()
        {
            return _gantryAxis.IsSwitchOn&&_gantryAxis.Status==RState.End;
        }

        public RState Start(params object[] objs)
        {
            _gantryAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Gantry");
            _elevatorAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Elevator");
            Runner.Start(Module, "SwitchOn");
            return RState.Running;
        }
    }
}