CyberX8/CyberX8_RT/Devices/SRD/SrdCommonChuckATMRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using CyberX8_Core;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.IOCore;
using MECF.Framework.Common.Routine;

namespace CyberX8_RT.Devices.SRD
{
    public class SrdCommonChuckATMRoutine : RoutineBase, IRoutine
    {
        #region 常量 
        private const string CHUCK_ATM_ON = "ChuckATMOn";
        #endregion
        private enum ChuckATMStep
        {
            ChuckATMOn,
            Delay,
            ChuckATMOff,
            End
        }
        #region 内部变量
        /// <summary>
        /// Srd Device
        /// </summary>
        private SrdCommonDevice _srdCommon;
        /// <summary>
        /// 破真空持续时间
        /// </summary>
        private int _duration= 100;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public SrdCommonChuckATMRoutine(string module) : base(module)
        {

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

        public RState Monitor()
        {
            Runner.Run(ChuckATMStep.ChuckATMOn, ChuckATMOn, _delay_1ms)
                .Delay(ChuckATMStep.Delay, _duration)
                .Run(ChuckATMStep.ChuckATMOff, ChuckATMOff, _delay_1ms)
                .End(ChuckATMStep.End, NullFun, 100);
            return Runner.Status;
        }
        public RState Start(params object[] objs)
        {
            _srdCommon = DEVICE.GetDevice<SrdCommonDevice>($"{Module}.Common");
            return Runner.Start(Module, "Chuck ATM Click");
        }
        /// <summary>
        /// Chuck ATM On
        /// </summary>
        /// <returns></returns>
        private bool ChuckATMOn()
        {
            return _srdCommon.ChuckATMOnAction("", null);
        }
        /// <summary>
        /// Chuck ATM Off
        /// </summary>
        /// <returns></returns>
        private bool ChuckATMOff()
        {
            return _srdCommon.ChuckATMOffAction("", null);
        }
        
    }
}