CyberX8/CyberX8_RT/Modules/SRD/SRDProcessErrorRoutine.cs

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
        {
            ArmStop,
            ArmStopWait,
            ArmHome,
            ArmHomeWait,
            RotationStop,
            RotationStopWait,
            RotationHome,
            RotationHomeWait,
            Unload,
            UnloadWait,
            End
        }
        #region 内部变量
        /// <summary>
        /// Rotation Axis
        /// </summary>
        private JetAxisBase _rotationAxis;
        /// <summary>
        /// Arm Axis
        /// </summary>
        private JetAxisBase _armAxis;
        /// <summary>
        /// unload routine
        /// </summary>
        private SRDUnloadRoutine _unloadRoutine;
        /// <summary>
        /// Arm是否正在运动
        /// </summary>
        private bool _armIsRun;
        /// <summary>
        /// Arm是否Homed
        /// </summary>
        private bool _armIsHomed;
        /// <summary>
        /// Rotation是否正在运动
        /// </summary>
        private bool _rotationIsRun;
        /// <summary>
        /// Rotation是否Homed
        /// </summary>
        private bool _rotationIsHomed;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SRDProcessErrorRoutine(string module) : base(module)
        {
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.RunIf(ProcessErrorStep.ArmStop, _armIsRun, () => AxisStop(_armAxis), _delay_1ms)
                .WaitWithStopConditionIf(ProcessErrorStep.ArmStopWait, _armIsRun, () => { return _armAxis.Status == RState.End; },
                    () => { return _armAxis.Status == RState.Failed || _armAxis.Status == RState.Timeout; })
                .RunIf(ProcessErrorStep.ArmHome, !_armIsHomed, () => AxisHome(_armAxis), _delay_1ms)
                .WaitWithStopConditionIf(ProcessErrorStep.ArmHomeWait, !_armIsHomed, () => { return _armAxis.Status == RState.End; },
                    () => { return _armAxis.Status == RState.Failed || _armAxis.Status == RState.Timeout; })
                .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 _unloadRoutine.Start() == RState.Running; }, _delay_1ms)
                .WaitWithStopCondition(ProcessErrorStep.UnloadWait, () => CommonFunction.CheckRoutineEndState(_unloadRoutine),
                    () => CommonFunction.CheckRoutineStopState(_unloadRoutine))
                .End(ProcessErrorStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// axis停止
        /// </summary>
        /// <param name="jetAxisBase"></param>
        /// <returns></returns>
        private bool AxisStop(JetAxisBase jetAxisBase)
        {
            return jetAxisBase.StopPositionOperation();
        }
        /// <summary>
        /// axis home
        /// </summary>
        /// <param name="jetAxisBase"></param>
        /// <returns></returns>
        private bool AxisHome(JetAxisBase jetAxisBase) 
        {
            return jetAxisBase.Home(false);
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _armAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Arm");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            _armIsRun = _armAxis.IsRun;
            _armIsHomed = _armAxis.IsHomed;
            _rotationIsRun= _rotationAxis.IsRun;
            _rotationIsHomed = _rotationAxis.IsHomed;
            _unloadRoutine = new SRDUnloadRoutine(Module);
            return Runner.Start(Module, "start process error");
        }
    }
}