CyberX8/CyberX8_RT/Devices/LinMot/LinmotDeviceTimer.cs

using Aitex.Core.RT.Device;
using Aitex.Core.Util;
using MECF.Framework.Common.ToolLayout;
using SecsGem.Core.ItemModel;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.LinMot
{
    public class LinmotDeviceTimer : BaseDevice, IDevice
    {
        #region 常量
        private const string LINMOT = "Linmot";
        #endregion
        #region 内部变量
        private PeriodicJob _periodicJob;
        private List<LinMotAxis> _linMotAxisList=new List<LinMotAxis>();

        #endregion

        public LinmotDeviceTimer() : base(LINMOT, LINMOT, LINMOT, LINMOT)
        {
            _periodicJob = new PeriodicJob(20, OnTimer, $"{LINMOT}.OnTimer", false);
        }
        /// <summary>
        /// 初始化
        /// </summary>
        /// <returns></returns>
        public bool Initialize()
        {
            foreach (string item in LinmotItemManager.Instance.InstalledModules)
            {
                LinmotItem linmotItem = LinmotItemManager.Instance.GetLinmotItem(item);
                for (int i = 0; i < linmotItem.Count; i++)
                {
                    LinMotAxis linMotAxis = DEVICE.GetDevice<LinMotAxis>($"{item}-{i + 1}");
                    _linMotAxisList.Add(linMotAxis);
                }
            }
            _periodicJob.Start();
            return true;
        }

        public void Monitor()
        {
        }

        public void Reset()
        {
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Terminate()
        {
            _periodicJob.Stop();
        }

        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <returns></returns>
        private bool OnTimer()
        {
            foreach (LinMotAxis item in _linMotAxisList)
            {
                item.OnTimer();
            }
            return true;
        }
    }
}