CyberX8/CyberX8_RT/Modules/Loader/LoaderSwitchAllOnRoutine.cs

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

namespace CyberX8_RT.Modules.Loader
{
    public class LoaderSwitchAllOnRoutine : RoutineBase, IRoutine
    {
        private enum SwitchOnAllStep
        {
            ShuttleASwitchOn,
            ShuttleBSwitchOn,
            TiltASwitchOn,
            TiltBSwitchOn,
            LSASwitchOn,
            LSBSwitchOn,
            RotationSwitchOn,
            End
        }
        #region 内部变量
        private JetAxisBase _shuttleAAxis;
        private JetAxisBase _shuttleBAxis;
        private JetAxisBase _tiltAAxis;
        private JetAxisBase _tiltBAxis;
        private JetAxisBase _rotationAxis;
        private JetAxisBase _lsAAxis;
        private JetAxisBase _lsBAxis;
        private int _timeOut = 6000;
        #endregion
        public LoaderSwitchAllOnRoutine(string module) : base(module)
        {
            _shuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.ShuttleA");
            _shuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.ShuttleB");

            _tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.TiltA");
            _tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.TiltB");

            _lsAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSA");
            _lsBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSB");

            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Rotation");
        }

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

        public RState Monitor()
        {
            Runner.Run(SwitchOnAllStep.ShuttleASwitchOn, () => { _shuttleAAxis.SwitchOn(); return true; }, () => { return _shuttleAAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOnAllStep.ShuttleBSwitchOn, () => { _shuttleBAxis.SwitchOn(); return true; }, () => { return _shuttleBAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOnAllStep.TiltASwitchOn, () => { _tiltAAxis.SwitchOn();return true; }, () => { return _tiltAAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOnAllStep.TiltBSwitchOn, () => { _tiltBAxis.SwitchOn(); return true; }, () => { return _tiltBAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOnAllStep.LSASwitchOn, () => { _lsAAxis.SwitchOn(); return true; }, () => { return _lsAAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOnAllStep.LSBSwitchOn, () => { _lsBAxis.SwitchOn(); return true; }, () => { return _lsBAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOnAllStep.RotationSwitchOn, () => { _rotationAxis.SwitchOn(); return true; }, () => { return _rotationAxis.IsSwitchOn; }, _timeOut)
                .End(SwitchOnAllStep.End,NullFun);

            return Runner.Status; 
        }


        public RState Start(params object[] objs)
        {
            Runner.Start(Module, "Switch On All");
            return RState.Running;
        }
    }
}