CyberX8/CyberX8_RT/Modules/PUF/PufCalibrateRoutine.cs

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

namespace CyberX8_RT.Modules.PUF
{
    public class PufCalibrateRoutine : ModuleRoutineBase, IRoutine
    {
        #region 常量
        private const string CHUCKA_RELEASE = "ChuckARelease";
        private const double STANDARD = 100;
        #endregion
        private enum PufCalibrateStep
        {
            CheckValid,
            VacuumOff,
            SaveConfig,
            End
        }
        #region 内部变量
        private PufVacuum _vacuum;
        private PufDistanceSensor _distanceSensor;
        private int _timeOut = 6000;
        private double _offset1;
        private double _offset2;
        #endregion
        public PufCalibrateRoutine(ModuleName module) : base(module)
        {
            _vacuum = DEVICE.GetDevice<PufVacuum>($"{module.ToString()}.Vacuum");
            _distanceSensor = DEVICE.GetDevice<PufDistanceSensor>($"{module.ToString()}.DistanceSensor");
            Name = "Vacuum";
        }

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

        public RState Monitor()
        {
            Runner.Run(PufCalibrateStep.CheckValid,CheckValid,100)
                .Run(PufCalibrateStep.VacuumOff, VacuumAOff, CheckVacuumOff, _timeOut)
                .Run(PufCalibrateStep.SaveConfig, SaveConfig, NullFun, _timeOut)
                .End(PufCalibrateStep.End,NullFun);

            return Runner.Status; 
        }
        private bool CheckValid()
        {
            return true;
        }
        private bool VacuumAOff()
        {
            return _vacuum.VacuumAOff();
        }

        private bool CheckVacuumOff()
        {
            return DATA.Poll<bool>($"{Module}",CHUCKA_RELEASE);
        }

        private bool SaveConfig()
        {
            _distanceSensor.SaveConfig(_offset1, _offset2);
            return true;
        }

        public RState Start(params object[] objs)
        {
            if(objs == null || objs.Length == 0)
            {
                return RState.Failed;
            }
            _offset1 = STANDARD - (double)objs[1];
            _offset2=STANDARD- (double)objs[2];
            Runner.Start(Module, Name);
            return RState.Running;
        }
    }
}