CyberX8/CyberX8_RT/Devices/Loader/LoaderSideVacuumLevelCheckRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using MECF.Framework.Common.Beckhoff.ModuleIO;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.TwinCat;
using CyberX8_Core;
using CyberX8_RT.Devices.Loader;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Devices.AXIS.CANOpen
{
   
    public class LoaderSideVacuumLevelCheckRoutine : RoutineBase, IRoutine
    {
        private enum VacuumStep
        {
            WriteVacuum,
            End
        }

        #region 常量 
        private const string CRS_VACUUM = "CRSVacuum";
        #endregion

        #region 内部变量
        private int _timeout = 5000;
        private LoaderSideDevice _loaderSide;
        private bool _vacuum = false;
        private double _crsVacuumHighLimit = -550;
        private double _crsVacuumLowLimit = -480;
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public LoaderSideVacuumLevelCheckRoutine(string module) : base(module)
        {
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(VacuumStep.WriteVacuum, NullFun, CheckVacuum,_timeout)
                .End(VacuumStep.End,NullFun,100);
            return Runner.Status;
        }
        /// <summary>
        /// 检验Vacuum状态
        /// </summary>
        /// <returns></returns>
        private bool CheckVacuum()
        {
            bool result = false;
            if (_vacuum)
            {
                result= _loaderSide.SideData.CRSVacuumValue < 0 && _loaderSide.SideData.CRSVacuumValue < _crsVacuumHighLimit;
                if (!result)
                {
                    if (_loaderSide.SideData.CRSVacuumValue >= _crsVacuumHighLimit)
                    {
                        NotifyError(Aitex.Core.RT.Log.eEvent.INFO_LOADER, $"vacuum value {_loaderSide.SideData.CRSVacuumValue} is over or equal {_crsVacuumHighLimit}", 0);
                        return false;
                    }
                    if (_loaderSide.SideData.CRSVacuumValue >= 0)
                    {
                        NotifyError(Aitex.Core.RT.Log.eEvent.INFO_LOADER, $"vacuum value {_loaderSide.SideData.CRSVacuumValue} is over or equal 0", 0);
                        return false;
                    }
                }
            }
            else
            {
                result= _loaderSide.SideData.CRSVacuumValue > _crsVacuumLowLimit && _loaderSide.SideData.CRSVacuumValue < 0;
                if (_loaderSide.SideData.CRSVacuumValue <= _crsVacuumLowLimit)
                {
                    NotifyError(Aitex.Core.RT.Log.eEvent.INFO_LOADER, $"vacuum value {_loaderSide.SideData.CRSVacuumValue} is less or equal {_crsVacuumLowLimit}", 0);
                    return false;
                }
                if (_loaderSide.SideData.CRSVacuumValue >= 0)
                {
                    NotifyError(Aitex.Core.RT.Log.eEvent.INFO_LOADER, $"vacuum value {_loaderSide.SideData.CRSVacuumValue} is over or equal 0", 0);
                    return false;
                }
            }
            
            return result;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            if (SC.ContainsItem($"{ModuleName.Loader1}.LSVacuumTimeout"))
            {
                _timeout = SC.GetValue<int>($"{ModuleName.Loader1}.LSVacuumTimeout");
            }
            if (SC.ContainsItem($"{ModuleName.Loader1}.LSVacuumHighLimit"))
            {
                _crsVacuumHighLimit = SC.GetValue<double>($"{ModuleName.Loader1}.LSVacuumHighLimit");
            }
            if (SC.ContainsItem($"{ModuleName.Loader1}.LSVacuumLowLimit"))
            {
                _crsVacuumLowLimit = SC.GetValue<double>($"{ModuleName.Loader1}.LSVacuumLowLimit");
            }
            _vacuum = (bool)objs[0];
            _loaderSide = DEVICE.GetDevice<LoaderSideDevice>(Module);
            return Runner.Start(Module, "Vacuum Level Check");
        }
    }
}