CyberX8/CyberX8_RT/Modules/PUF/PufSwitchOffRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
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 PufSwitchOffRoutine : ModuleRoutineBase, IRoutine
    {
        private enum LoadStep
        {
            Rotation,
            RotationWait,
            Flip,
            FlipWait,
            End
        }
        #region 内部变量
        private JetAxisBase _flipAxis;
        private JetAxisBase _rotationAxis;
        #endregion
        public PufSwitchOffRoutine(ModuleName module) : base(module)
        {
            _flipAxis = DEVICE.GetDevice<JetAxisBase>($"{module.ToString()}.Flip");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module.ToString()}.Rotation");
            Name = "SwitchOff";
        }

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

        public RState Monitor()
        {
            Runner.Run(LoadStep.Rotation, RotationAxisSwitchOff, _delay_1ms)
                .WaitWithStopCondition(LoadStep.RotationWait, () => { return _rotationAxis.Status == RState.End; }, () => { return _rotationAxis.Status == RState.Failed; })
                .Run(LoadStep.Flip, FlipAxisSwitchOff, _delay_1ms)
                .WaitWithStopCondition(LoadStep.FlipWait, () => { return _flipAxis.Status == RState.End; }, () => { return _flipAxis.Status == RState.Failed; })
                .End(LoadStep.End,NullFun);

            return Runner.Status; 
        }

        private bool FlipAxisSwitchOff()
        {
            _flipAxis.SwitchOff();
            return true;
        }

        private bool CheckFlipSwitchOff()
        {
            return !_flipAxis.IsSwitchOn;
        }

        private bool RotationAxisSwitchOff()
        {
            _rotationAxis.SwitchOff();
            return true;
        }

        private bool CheckRotationSwitchOff()
        {
            return !_rotationAxis.IsSwitchOn;
        }

        public RState Start(params object[] objs)
        {
            Runner.Start(Module, Name);
            return RState.Running;
        }
    }
}