CyberX8/CyberX8_RT/Devices/Loader/LoaderSideVacuumAndLevelCheckRoutineRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.TwinCat;
using CyberX8_Core;
using CyberX8_RT.Devices.Loader;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MECF.Framework.Common.IOCore;

namespace CyberX8_RT.Devices.AXIS.CANOpen
{
   
    public class LoaderSideVacuumAndLevelCheckRoutineRoutine : RoutineBase, IRoutine
    {
        private enum VacuumStep
        {
            WriteVacuum,
            CheckVacuum,
            End
        }

        #region 常量 
        private const string CRS_VACUUM = "CRSVacuum";
        #endregion

        #region 内部变量
        private int _timeout = 5000;
        private LoaderSideDevice _loaderSide;
        private bool _vacuum = false;
        private double _crsVacuumHighLimit = -550;
        private double _crsVacuumLowLimit = -480;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public LoaderSideVacuumAndLevelCheckRoutineRoutine(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.Run(VacuumStep.WriteVacuum, WriteVacuum, CheckVacuum,_timeout)
                .Run(VacuumStep.CheckVacuum,NullFun,CheckVacuumValue,_timeout)
                .End(VacuumStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 写入Vacuum数值
        /// </summary>
        /// <returns></returns>
        private bool WriteVacuum()
        {
            string ioName = BeckhoffModuleIOManager.Instance.GetIoNameByInnerModuleName($"{Module}.{CRS_VACUUM}");
            return IOModuleManager.Instance.WriteIoValue(ioName, _vacuum);
        }
        /// <summary>
        /// 检验Door Lock状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVacuum()
        {
            return _loaderSide.SideData.CRSVacuum == _vacuum;
        }
        /// <summary>
        /// 检验Door Lock状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVacuumValue()
        {
            if (_vacuum)
            {
                return _loaderSide.SideData.CRSVacuumValue < 0 && _loaderSide.SideData.CRSVacuumValue < _crsVacuumHighLimit;
            }
            else
            {
                return _loaderSide.SideData.CRSVacuumValue > _crsVacuumLowLimit;
            }
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            if (SC.ContainsItem($"{ModuleName.Loader1}.LSVacuumTimeout"))
            {
                _timeout = SC.GetValue<int>($"{ModuleName.Loader1}.LSVacuumTimeout");
            }
            if (SC.ContainsItem($"{ModuleName.Loader1}.LSVacuumHighLimit"))
            {
                _crsVacuumHighLimit = SC.GetValue<double>($"{ModuleName.Loader1}.LSVacuumHighLimit");
            }
            if (SC.ContainsItem($"{ModuleName.Loader1}.LSVacuumHighLimit"))
            {
                _crsVacuumHighLimit = SC.GetValue<double>($"{ModuleName.Loader1}.LSVacuumHighLimit");
            }
            _loaderSide = DEVICE.GetDevice<LoaderSideDevice>(Module);
            _vacuum = (bool)objs[0];
            return Runner.Start(Module, "Vacuum And Check Value");
        }
    }
}