CyberX8/CyberX8_RT/Devices/LinMot/LinMotStopMotorRoutine.cs

using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Device.LinMot;
using MECF.Framework.Common.Routine;
using Mono.Security.X509;
using CyberX8_Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.LinMot
{
   
    public class LinMotStopMotorRoutine : RoutineBase, IRoutine
    {
        private enum LinMotStopMotorStep
        {
            Freeze,
            GoToInitialPosition,
            ReDelay,
            ReWait,
            LastSwitchOn,
            LastSwitchOff,
            End
        }
        #region 内部变量
        private LinMotAxis _axis;
        private bool _lastSwitchOff = false;
        #endregion

        public LinMotStopMotorRoutine(string module,LinMotAxis axis) : base(module)
        {
            _axis = axis;
        }

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

        public RState Monitor()
        {
            Runner.Run(LinMotStopMotorStep.Freeze, () => { return _axis.SendOperation(LinMotOperation.Freeze); }, CheckMotorStop, _delay_5s)
                 .Run(LinMotStopMotorStep.GoToInitialPosition, () => { return _axis.SendOperation(LinMotOperation.GoToInitialPosition); }, NullFun, 100)
                .Delay(LinMotStopMotorStep.ReDelay, 200)
                .WaitWithStopCondition(LinMotStopMotorStep.ReWait, CheckInTargetPosition,CheckAxisIsStop )
                .Run(LinMotStopMotorStep.LastSwitchOn, () => { return _axis.SendOperation(LinMotOperation.SwitchOn); }, CheckSwitchOn, _delay_5s)
                .RunIf(LinMotStopMotorStep.LastSwitchOff, _lastSwitchOff, () => { return _axis.SendOperation(LinMotOperation.SwitchOff); }, _delay_1ms)
               .End(LinMotStopMotorStep.End, NullFun);

            return Runner.Status;
        }
        public RState Start(params object[] objs)
        {
            _lastSwitchOff = objs == null || objs.Length == 0 ? false : (bool)objs[0];
            return Runner.Start(Module, "StopMotion");
        }
        private bool CheckInTargetPosition()
        {
            return _axis.InTargetPosition;
        }

        private bool CheckAxisIsStop()
        {
            return !_axis.IsMotorOn;
        }
        private bool CheckSwitchOn()
        {
            return _axis.IsSwitchOn;
        }

        private bool CheckMotorStop()
        {
            return !_axis.IsMotorOn ;
        }
    }
}