CyberX8/CyberX8_RT/Modules/Prewet/PrewetLinmotScanWetRoutine.cs

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

namespace CyberX8_RT.Modules.Prewet
{
    public class PrewetLinmotScanWetRoutine : RoutineBase, IRoutine
    {
        private enum PrewetScanStep
        {
            Reset,
            WaitReset,
            ScanWet,
            WaitScanWet,
            End
        }

        #region 内部变量
        private int _totalScan;

        private LinMotAxis _linMotAxis;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PrewetLinmotScanWetRoutine(string module,LinMotAxis linMotAxis) : base(module)
        {
            _linMotAxis = linMotAxis;
        }


        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(PrewetScanStep.Reset, ResetLinmotAxis, _delay_1ms)
                .WaitWithStopCondition(PrewetScanStep.WaitReset, () => { return _linMotAxis.Status == RState.End; }, () => { return _linMotAxis.Status == RState.Failed; })
                .Run(PrewetScanStep.ScanWet, ScanWet, _delay_1ms)
                .WaitWithStopCondition(PrewetScanStep.WaitScanWet, () => { return _linMotAxis.Status == RState.End; }, () => { return _linMotAxis.Status == RState.Failed; })
                .End(PrewetScanStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// Reset Linmot
        /// </summary>
        /// <returns></returns>
        private bool ResetLinmotAxis()
        {
            return _linMotAxis.ResetOperation("",false);
        }
        /// <summary>
        /// Scan Wet
        /// </summary>
        /// <returns></returns>
        private bool ScanWet()
        {
            return _linMotAxis.StartPosition("", new object[] { _totalScan });
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _totalScan = (int)objs[0];
            if(_totalScan==0)
            {
                LOG.WriteLog(eEvent.ERR_LINMOT, Module, "Total Scan is 0");
                return RState.Failed;
            }
            return Runner.Start(Module, "Prewet ScanWet");
        }
    }
}