CyberX8/CyberX8_RT/Modules/SRD/SRDPositionRoutine.cs

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

namespace CyberX8_RT.Modules.SRD
{
    internal class SRDPositionRoutine : ModuleRoutineBase, IRoutine
    {
        private enum PositionStep
        {
            Position,
            Wait,
            End
        }

        #region 内部变量
        private JetAxisBase _axis;
        private string _position;
        private int _timeOut = 6000;
        #endregion

        #region 属性
        /// <summary>
        /// 当前子状态机
        /// </summary>
        public string CurrentStateMachine
        {
            get { return Runner.CurrentStep.ToString(); }
        }
        #endregion

        public SRDPositionRoutine(ModuleName module) : base(module)
        {
            Name = "GotoPosition";
        }

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

        public RState Monitor()
        {
            Runner.Run(PositionStep.Position, GotoPosition, NullFun, _timeOut)
                .WaitWithStopCondition(PositionStep.Wait, CheckPositionStatus, CheckPositionRunStop)
                .End(PositionStep.End, NullFun);

            return Runner.Status;
        }

        public bool GotoPosition()
        {
            return _axis.PositionStation(_position);
        }

        /// <summary>
        /// 检验移动状态
        /// </summary>
        /// <returns></returns>
        private bool CheckPositionStatus()
        {
            return _axis.Status == RState.End;
        }
        /// <summary>
        /// 检验是否还在运动
        /// </summary>
        /// <returns></returns>
        private bool CheckPositionRunStop()
        {
            return _axis.Status == RState.Failed;
        }

        public RState Start(params object[] objs)
        {
            _axis = (JetAxisBase)objs[0];
            _position = objs[1].ToString();

            Runner.Start(Module, Name);
            return RState.Running;
        }

    }
}