CyberX8/CyberX8_RT/Devices/Loader/LoaderCRSAxisInterLock.cs

using Aitex.Core.RT.Log;
using CyberX8_RT.Devices.AXIS;
using CyberX8_RT.Devices.AXIS.Yaskawa;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.Loader
{
    public class LoaderCRSAxisInterLock : IAxisInterLock
    {
        #region 内部变量
        private JetAxisBase _axis;
        #endregion
        #region 属性
        /// <summary>
        /// 模块名称
        /// </summary>
        public string Module { get { return _axis.Module; } }
        /// <summary>
        /// 子模块名称
        /// </summary>
        public string Name { get { return _axis.Name; } }
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="Module"></param>
        /// <param name="name"></param>
        public LoaderCRSAxisInterLock(JetAxisBase axis)
        {
            _axis = axis;
        }
        /// <summary>
        /// GotoPosition
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public bool CheckGotoPosition(string station)
        {
            if (!_axis.IsSwitchOn)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is switch off, Cannot execute GotoSavedPosition");
                return false;
            }
            if (!_axis.IsHomed)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is not home, Cannot execute GotoSavedPosition");
                return false;
            }
            if (_axis.Status==CyberX8_Core.RState.Running)
            {
                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} status is running, Cannot execute GotoSavedPosition");
                return false;
            }
            return true;
        }
    }
}