CyberX8/CyberX8_RT/Devices/SRD/SrdArmAxisInterLock.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Log;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.AXIS.CANOpen;
using CyberX8_RT.Devices.Facilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.SRD
{
    public class SrdArmAxisInterLock : IAxisInterLock
    {
        #region 内部变量
        private JetAxisBase _axis;
        #endregion
        #region 属性
        /// <summary>
        /// 模块名称
        /// </summary>
        public string Module { get { return _axis.Module; } }
        /// <summary>
        /// 子模块名称
        /// </summary>
        public string Name { get { return _axis.Name; } }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public SrdArmAxisInterLock(JetAxisBase axis) 
        {
            _axis = axis;
        }
        /// <summary>
        /// GotoPosition判定前置条件
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public bool CheckGotoPosition(string station)
        {
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "axis is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!_axis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_PUF, Module, "axis is switch off, Cannot execute GotoSavedPosition");
                return false;
            }
            
            SystemFacilities systemFacilities = DEVICE.GetDevice<SystemFacilities>("System.Facilities");

            var result= systemFacilities.CheckCDAN2();
            if(!result.result)
            {
                LOG.WriteLog(eEvent.ERR_SRD, Module, $"{result.reason},Arm can not position");
                return false;
            }
            return true;
        }
    }
}