CyberX8/CyberX8_RT/Modules/Loader/LoaderSwitchAllOffRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
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.Loader
{
    public class LoaderSwitchAllOffRoutine : MECF.Framework.Common.Routine.RoutineBase, IRoutine
    {
        private enum SwitchOffAllStep
        {
            ShuttleASwitchOff,
            ShuttleBSwitchOff,
            TiltASwitchOff,
            TiltBSwitchOff,
            CRSASwitchOff,
            CRSBSwitchOff,
            RotationSwitchOff,
            End
        }
        #region 内部变量
        private JetAxisBase _shuttleAAxis;
        private JetAxisBase _shuttleBAxis;
        private JetAxisBase _tiltAAxis;
        private JetAxisBase _tiltBAxis;
        private JetAxisBase _rotationAxis;
        private JetAxisBase _crsAAxis;
        private JetAxisBase _crsBAxis;
        private int _timeOut = 6000;
        #endregion
        public LoaderSwitchAllOffRoutine(string module) : base(module)
        {
            _shuttleAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.ShuttleA");
            _shuttleBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.ShuttleB");

            _tiltAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.TiltA");
            _tiltBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.TiltB");

            _crsAAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSA");
            _crsBAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.LSB");

            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{module}.Rotation");
        }

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

        public RState Monitor()
        {
            Runner.Run(SwitchOffAllStep.ShuttleASwitchOff, () => { _shuttleAAxis.SwitchOff(); return true; }, () => { return !_shuttleAAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOffAllStep.ShuttleBSwitchOff, () => { _shuttleBAxis.SwitchOff(); return true; }, () => { return !_shuttleBAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOffAllStep.TiltASwitchOff, () => { _tiltAAxis.SwitchOff();return true; }, () => { return !_tiltAAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOffAllStep.TiltBSwitchOff, () => { _tiltBAxis.SwitchOff(); return true; }, () => { return !_tiltBAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOffAllStep.CRSASwitchOff, () => { _crsAAxis.SwitchOff(); return true; }, () => { return !_crsAAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOffAllStep.CRSBSwitchOff, () => { _crsBAxis.SwitchOff(); return true; }, () => { return !_crsBAxis.IsSwitchOn; }, _timeOut)
                .Run(SwitchOffAllStep.RotationSwitchOff, () => { _rotationAxis.SwitchOff(); return true; }, () => { return !_rotationAxis.IsSwitchOn; }, _timeOut)
                .End(SwitchOffAllStep.End,NullFun);

            return Runner.Status; 
        }


        public RState Start(params object[] objs)
        {
            Runner.Start(Module, "Switch On All");
            return RState.Running;
        }
    }
}