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- using Aitex.Core.RT.Routine;
- using MECF.Framework.Common.Routine;
- using CyberX8_Core;
- using CyberX8_RT.Devices.AXIS.CANOpen;
- using System;
- using System.Collections.Generic;
- using System.Linq;
- using System.Runtime.InteropServices;
- using System.Text;
- using System.Threading.Tasks;
- namespace CyberX8_RT.Devices.Loader
- {
- public class LoaderSideUnloadVacuumLevelCheckRoutine : RoutineBase, IRoutine
- {
- private enum UnloadVacuumLevelStep
- {
- VecuumLevel,
- VecuumLevelCheck,
- ConditionWHBladder,
- ConditionWHBladderCheck,
- ConditionVacuumLevel,
- ConditionVacuumLevelCheck,
- End
- }
- #region 内部变量
- private bool _continue = false;
- private bool _vacuumLevelCheckFailed = false;
- private LoaderSideVacuumLevelCheckRoutine _vacuumLevelCheckRoutine;
- private LoaderSideWhBladderRoutine _whBladderRoutine;
- #endregion
- /// <summary>
- /// 构造函数
- /// </summary>
- /// <param name="module"></param>
- public LoaderSideUnloadVacuumLevelCheckRoutine(string module) : base(module)
- {
- }
- /// <summary>
- /// 中止
- /// </summary>
- public void Abort()
- {
- }
- /// <summary>
- /// 监控
- /// </summary>
- /// <returns></returns>
- public RState Monitor()
- {
- Runner.Run(UnloadVacuumLevelStep.VecuumLevel, () => { return _vacuumLevelCheckRoutine.Start(true) == RState.Running; }, NullFun, _delay_1ms)
- .WaitWithStopCondition(UnloadVacuumLevelStep.VecuumLevelCheck, FirstVacuumLevelCheck, () => { return _vacuumLevelCheckFailed; })
- .Run(UnloadVacuumLevelStep.ConditionWHBladder,ConditionWHBladder,_delay_1ms)
- .WaitWithStopCondition(UnloadVacuumLevelStep.ConditionWHBladderCheck,ConditionWHBladderEndStatus,ConditionWHBladderStopStatus)
- .Run(UnloadVacuumLevelStep.ConditionVacuumLevelCheck,ConditionVacuumLevel,_delay_1ms)
- .WaitWithStopCondition(UnloadVacuumLevelStep.ConditionVacuumLevelCheck,ConditionVacuumLevelEndStatus,ConditionVacuumLevelStopStatus)
- .End(UnloadVacuumLevelStep.End,NullFun,100);
- return Runner.Status;
- }
- /// <summary>
- /// 首次VacuumLevel校验
- /// </summary>
- /// <returns></returns>
- private bool FirstVacuumLevelCheck()
- {
- RState state = _vacuumLevelCheckRoutine.Monitor();
- if(state==RState.End)
- {
- return true;
- }
- else if(state==RState.Timeout)
- {
- _continue = true;
- return true;
- }
- else if(state==RState.Failed)
- {
- _vacuumLevelCheckFailed = true;
- return false;
- }
- else
- {
- return false;
- }
- }
- /// <summary>
- /// 条件WHBladder
- /// </summary>
- /// <returns></returns>
- private bool ConditionWHBladder()
- {
- if(_continue)
- {
- return true;
- }
- else
- {
- return _whBladderRoutine.Start(true) == RState.Running;
- }
- }
- /// <summary>
- /// 条件WHBladder检验
- /// </summary>
- /// <returns></returns>
- private bool ConditionWHBladderEndStatus()
- {
- if(_continue)
- {
- return true;
- }
- else
- {
- return _whBladderRoutine.Monitor() == RState.End;
- }
- }
- /// <summary>
- /// 条件WHBladder停止检验
- /// </summary>
- /// <returns></returns>
- private bool ConditionWHBladderStopStatus()
- {
- if (_continue)
- {
- return true;
- }
- else
- {
- RState state = _whBladderRoutine.Monitor();
- return state == RState.Failed || state == RState.Timeout;
- }
- }
- /// <summary>
- /// 条件Vacuum Level
- /// </summary>
- /// <returns></returns>
- private bool ConditionVacuumLevel()
- {
- if (_continue)
- {
- return true;
- }
- else
- {
- return _vacuumLevelCheckRoutine.Start(true) == RState.Running;
- }
- }
- /// <summary>
- /// 条件Vacuum Level
- /// </summary>
- /// <returns></returns>
- private bool ConditionVacuumLevelEndStatus()
- {
- if (_continue)
- {
- return true;
- }
- else
- {
- return _vacuumLevelCheckRoutine.Monitor() == RState.End;
- }
- }
- /// <summary>
- /// 条件Vacuum Level
- /// </summary>
- /// <returns></returns>
- private bool ConditionVacuumLevelStopStatus()
- {
- if (_continue)
- {
- return true;
- }
- else
- {
- RState state = _vacuumLevelCheckRoutine.Monitor();
- return state == RState.Failed || state == RState.Timeout;
- }
- }
- /// <summary>
- /// 启动
- /// </summary>
- /// <param name="objs"></param>
- /// <returns></returns>
- public RState Start(params object[] objs)
- {
- _vacuumLevelCheckRoutine = new LoaderSideVacuumLevelCheckRoutine(Module);
- _whBladderRoutine = new LoaderSideWhBladderRoutine(Module);
- Runner.Start(Module, "UnloadVacuumLevelCheck");
- return RState.Running;
- }
- }
- }
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