CyberX8/CyberX8_RT/Modules/PUF/PufChuckRoutine.cs

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

namespace CyberX8_RT.Modules.PUF
{
    public class PufChuckRoutine : RoutineBase, IRoutine
    {
        private enum ChuckStep
        {
            Chuck,
            ChuckWait,
            End
        }

        #region 内部变量
        private PufVacuum _pufVacuum;
        private bool _chuck;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PufChuckRoutine(string module) : base(module)
        {
            _pufVacuum= DEVICE.GetDevice<PufVacuum>($"{Module}.Vacuum");
        }

        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(ChuckStep.Chuck, Chuck, _delay_1ms)
                .Wait(ChuckStep.ChuckWait, CheckChuck, _delay_5s)
                .End(ChuckStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// chuck操作
        /// </summary>
        /// <returns></returns>
        private bool Chuck()
        {
            if (_chuck)
            {
                return _pufVacuum.ChuckOn();
            }
            else
            {
                return _pufVacuum.ChuckOff();
            }
        }
        /// <summary>
        /// 检验chuck
        /// </summary>
        /// <returns></returns>
        private bool CheckChuck()
        {
            if (_chuck)
            {
                return _pufVacuum.CheckChuckOut();
            }
            else
            {
                return _pufVacuum.CheckChuckIn();
            }
        }

        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _chuck=(bool)objs[0];
            return Runner.Start(Module, "Chuck");
        }
    }
}