CyberX8/CyberX8_RT/Devices/PowerSupplier/PowerSupplierStepRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.CommonData.PowerSupplier;
using MECF.Framework.Common.Routine;
using CyberX8_Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.PowerSupplier
{
    public class PowerSupplierStepRoutine : RoutineBase, IRoutine
    {
        private enum PowerSupplierStep
        {
            CloseOutPut,
            SwitchStepModel,
            WriteStepParameter,
            WriteStepDelay,
            StartStepParameter,
            StartStepDelay,
            EnableOutput,
            Delay,
            WaitStep,
            LastCloseOutPut,
            SwitchNormal,
            End
        }

        #region 内部变量
        /// <summary>
        /// 步阶数据对象集合
        /// </summary>
        List<PowerSupplierStepPeriodData> _stepPeriodDatas;
        /// <summary>
        /// 电源设备对象
        /// </summary>
        CellPowerSupplier _powerSupplier;
        /// <summary>
        /// 等待时长
        /// </summary>
        private int _waitTime = 500;
        /// <summary>
        /// 输出时间
        /// </summary>
        private DateTime _outputTime = DateTime.MinValue;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PowerSupplierStepRoutine(string module) : base(module)
        {
        }

        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(PowerSupplierStep.CloseOutPut, () => { return _powerSupplier.DisableOutput(); }, () => { return !_powerSupplier.PowerSupplierData.Enabled; }, _delay_2s)
                .Run(PowerSupplierStep.SwitchStepModel, () => { return _powerSupplier.SwitchPowerRunModel((int)PowerRunModelEnum.Step); }, () => { return _powerSupplier.PowerSupplierData.PowerRunModel == (int)PowerRunModelEnum.Step; }, _delay_2s)
                .Run(PowerSupplierStep.WriteStepParameter, () => { return _powerSupplier.SetStepPeriod("", new object[] { "", _stepPeriodDatas }); }, NullFun, _delay_1ms)
                .Run(PowerSupplierStep.StartStepParameter, () => { return _powerSupplier.StartStepPeriod((ushort)_stepPeriodDatas.Count, 1); }, NullFun, _delay_1ms)
                .Run(PowerSupplierStep.EnableOutput, EnableOutPut, () => { return _powerSupplier.PowerSupplierData.Enabled; }, _delay_3s)
                .Delay(PowerSupplierStep.Delay, 1000)
                .Wait(PowerSupplierStep.WaitStep, CheckWaitTimeCurrentFinish, _waitTime)
                .Run(PowerSupplierStep.LastCloseOutPut, () => { return _powerSupplier.DisableOutput(); }, () => { return !_powerSupplier.PowerSupplierData.Enabled; }, _delay_2s)
                .Run(PowerSupplierStep.SwitchNormal, () => { return _powerSupplier.SwitchPowerRunModel((int)PowerRunModelEnum.Normal); }, () => { return _powerSupplier.PowerSupplierData.PowerRunModel == (int)PowerRunModelEnum.Normal; }, _delay_2s)
                .End(PowerSupplierStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 启动输出
        /// </summary>
        /// <returns></returns>
        private bool EnableOutPut()
        {
            return _powerSupplier.EnableOutput();
        }
        /// <summary>
        /// 校验时间电流是否为0
        /// </summary>
        /// <returns></returns>
        private bool CheckWaitTimeCurrentFinish()
        {
            if (_outputTime == DateTime.MinValue)
            {
                _outputTime = DateTime.Now;
                return false;
            }
            //waittime比总时间多出1000，上面delay1000，判定修后一步的最后1s是否为0电流
            if (DateTime.Now.Subtract(_outputTime).TotalMilliseconds >= _waitTime-3000)
            {
                return _powerSupplier.PowerSupplierData.Current == 0;
            }
            return false;
        }

        public RState Start(params object[] objs)
        {
            _powerSupplier = DEVICE.GetDevice<CellPowerSupplier>(Module);
            _stepPeriodDatas = (List<PowerSupplierStepPeriodData>)objs[1];
            _waitTime = 0;
            foreach(PowerSupplierStepPeriodData item in _stepPeriodDatas)
            {
                _waitTime += (item.Hour * 3600 + item.Minute * 60 + item.Second) * 1000 + item.Microsecond;
            }
            _waitTime += 1 * 1000;//多增加1秒
            _outputTime = DateTime.MinValue;
            return Runner.Start(Module, "PowerSupplier Step");
        }
    }
}