CyberX8/CyberX8_RT/Modules/EFEM/EfemSafeOpenRoutine.cs

using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using CyberX8_Core;
using CyberX8_RT.Devices.EFEM;
using CyberX8_RT.Modules.SRD;
using MECF.Framework.Common.Equipment;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.EFEM
{
    public class EfemSafeOpenRoutine : ModuleRoutineBase, IRoutine
    {
        private enum SafeOpenStep 
        { 
            Pause,
            PauseSignalCheck,
            Open,
            End
        }

        private EfemEntity _efemEntity;

        EfemBase _efem;

        public EfemSafeOpenRoutine(EfemBase efem) : base(ModuleName.EFEM)
        {
            _efem = efem;

        }

        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            return Runner.Start(Module, "Save Open");
        }

        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(SafeOpenStep.Pause, () => { return Pause(); }, _delay_1ms)
                   .Wait(SafeOpenStep.PauseSignalCheck, CheckPauseDone)
                   .Run(SafeOpenStep.Open, () => { return Open(); },_delay_1ms)
                   .End(SafeOpenStep.End, NullFun, 0);

            return Runner.Status;
        }
        /// <summary>
        /// 暂停功能
        /// </summary>
        /// <returns></returns>
        private bool Pause()
        {
            return _efem.Pause();
        }

        /// <summary>
        /// 检查是否Pause
        /// </summary>
        /// <returns></returns>
        private bool CheckPauseDone()
        {
            return _efem.IsPauseRDYReceived;
        }

        private bool Open()
        {
            _efemEntity = Singleton<RouteManager>.Instance.GetModule<EfemEntity>(Module.ToString());
            bool myBool = true;
            return _efemEntity.DoorUnlock(new object[] { myBool });
        }

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

    }
}