CyberX8/CyberX8_RT/Devices/AXIS/CanOpen/CanOpenSwitchOffRoutine.cs

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.CANOpen
{
   
    public class CanOpenSwitchOffRoutine : RoutineBase, IRoutine
    {
        private enum SwitchOffStep
        {
            ClearError,
            NoneModeOfOperation,
            WriteSwitchOffControlWord,
            SwitchOnDelay,
            CheckSwitchOff,
            End
        }
        #region 内部变量
        private JetAxisBase _axis;
        #endregion
        public CanOpenSwitchOffRoutine(string module,JetAxisBase axis) : base(module)
        {
            _axis = axis;
        }

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

        public RState Monitor()
        {
            Runner.Run(SwitchOffStep.ClearError, ClearError,CheckError,1000)
                .Run(SwitchOffStep.NoneModeOfOperation, () => { return _axis.WriteModeOfMode(AxisModeOfOperation.None); },
                ()=> { return CheckModeOfOperation((byte)AxisModeOfOperation.None); }, 1000)
                .Run(SwitchOffStep.WriteSwitchOffControlWord, () => { return _axis.WriteControlWord(0x06); }, () => { return CheckControlWord(0x06); },1000)
                .Delay(SwitchOffStep.SwitchOnDelay,100)
                .Wait(SwitchOffStep.CheckSwitchOff,CheckSwitchOff,1000)
                .End(SwitchOffStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 清除错误
        /// </summary>
        /// <returns></returns>
        private bool ClearError()
        {
            if(_axis.IsError)
            {
                return _axis.WriteControlWord(128);
            }
            return true;
        }
        /// <summary>
        /// 检验是否存在错误
        /// </summary>
        /// <returns></returns>
        private bool CheckError()
        {
            return !_axis.IsError;
        }

        public bool CheckModeOfOperation(byte modeOfOperation)
        {
            return _axis.ModeOfOperation == modeOfOperation;
        }

        public bool CheckControlWord(ushort controlWord)
        {
            return _axis.ControlWord == controlWord;
        }

        private bool CheckSwitchOff()
        {
            return !_axis.IsSwitchOn;
        }
        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, "Switch Off");
        }
    }
}