CyberX8/CyberX8_RT/Modules/ReservoirMetalHomeRoutine.cs

using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using CyberX8_Core;
using CyberX8_RT.Modules.Metal;
using CyberX8_RT.Modules.Reservoir;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.ToolLayout;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules
{
    public class ReservoirMetalHomeRoutine : RoutineBase, IRoutine
    {
        private enum ReservoirStep
        {
            ReservoirHome,
            ReservoirHomeWait,
            MetalHome,
            End,
        }
        #region 内部变量
        private ReservoirEntity _reservoirEntity;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public ReservoirMetalHomeRoutine(string module) : base(module)
        {
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.RunIf(ReservoirStep.ReservoirHome, _reservoirEntity.IsAuto, ReservoirHome, _delay_1ms)
                .WaitWithStopConditionIf(ReservoirStep.ReservoirHomeWait,_reservoirEntity.IsAuto,() => { return _reservoirEntity.IsIdle; }, () => { return _reservoirEntity.IsError; })
                .Run(ReservoirStep.MetalHome, MetalsHome, _delay_1ms)
                .End(ReservoirStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// Reservoir Home
        /// </summary>
        /// <returns></returns>
        private bool ReservoirHome()
        {
            int reservoirInvoke = _reservoirEntity.Invoke("HomeAll");
            return reservoirInvoke==(int)ReservoirMsg.Initialize;
        }
        /// <summary>
        /// Metal Home
        /// </summary>
        /// <returns></returns>
        private bool MetalsHome()
        {
            ReservoirItem reservoirItem = ReservoirItemManager.Instance.GetReservoirItem(Module.ToString());
            if (reservoirItem != null)
            {
                List<MetalItem> metalItems = reservoirItem.MetalCells;
                if (metalItems != null && metalItems.Count > 0)
                {
                    foreach (MetalItem metalItem in metalItems)
                    {
                        if (metalItem.Installed)
                        {
                            MetalEntity moduleEntity = Singleton<RouteManager>.Instance.GetModule<MetalEntity>(metalItem.ModuleName);
                            if (moduleEntity.IsAuto)
                            {
                                moduleEntity.Invoke("HomeAll");
                            }
                        }
                    }
                }
            }
            return true;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _reservoirEntity = Singleton<RouteManager>.Instance.GetModule<ReservoirEntity>(Module);
            return Runner.Start(Module.ToString(), "Reservoir Metal Home");
        }
        
    }
}