CyberX8/CyberX8_RT/Modules/Prewet/PrewetDelayKeepwetRoutine.cs

using Aitex.Core.RT.Log;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using CyberX8_Core;
using CyberX8_RT.Devices.LinMot;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.Prewet
{
    public class PrewetDelayKeepwetRoutine : RoutineBase, IRoutine
    {
        private enum KeepwetStep
        {
            Delay,
            Keepwet,
            KeepwetWait,
            End
        }
        #region 内部变量
        /// <summary>
        /// delay时间
        /// </summary>
        private int _idleKeepwetPauseBetweenScanSeconds;

        /// <summary>
        /// keepwet状态机
        /// </summary>
        //private PrewetKeepWetStateMachine _keepwetStateMachine;
        /// <summary>
        /// Linmot
        /// </summary>
        private LinMotAxis _linmotAxis;
        /// <summary>
        /// Keepwet Routine
        /// </summary>
        private PrewetKeepWetRoutine _prewetKeepWetRoutine;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PrewetDelayKeepwetRoutine(string module,LinMotAxis linMotAxis) : base(module)
        {
            _linmotAxis = linMotAxis;
            _prewetKeepWetRoutine = new PrewetKeepWetRoutine(module, linMotAxis);
            //_keepwetStateMachine = new PrewetKeepWetStateMachine(Module.ToString(), _linmotAxis);
        }

        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            if (Runner.CurrentStep.ToString() == KeepwetStep.Delay.ToString())
            {
                Runner.Stop("Manual abort");
            }
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Delay(KeepwetStep.Delay, _idleKeepwetPauseBetweenScanSeconds * 1000)
                .Run(KeepwetStep.Keepwet, StartKeepwet, _delay_1ms)
                .WaitWithStopCondition(KeepwetStep.KeepwetWait, CheckKeepwetEndStaus, CheckKeepwetStopStaus)
                .End(KeepwetStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// 启动keepwet
        /// </summary>
        /// <returns></returns>
        private bool StartKeepwet()
        {
            //return _keepwetStateMachine.CheckToPostMessage<PrewetKeepWetState,PrewetKeepWetMsg>(eEvent.ERR_PREWET, Module.ToString(), (int)PrewetKeepWetMsg.KeepWetStart, null);
            return _prewetKeepWetRoutine.Start() == RState.Running;
        }
        /// <summary>
        /// 检验keepwet状态机结束状态
        /// </summary>
        /// <returns></returns>
        private bool CheckKeepwetEndStaus()
        {
            //return _keepwetStateMachine.State == PrewetKeepWetState.Idle.ToString();
            return CommonFunction.CheckRoutineEndState(_prewetKeepWetRoutine);
        }
        /// <summary>
        /// 检验keepwet状态机停止状态
        /// </summary>
        /// <returns></returns>
        private bool CheckKeepwetStopStaus()
        {
            //return _keepwetStateMachine.State == PrewetKeepWetState.Error.ToString();
            return CommonFunction.CheckRoutineStopState(_prewetKeepWetRoutine);
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            //_keepwetStateMachine.Initialize();
            _idleKeepwetPauseBetweenScanSeconds = SC.GetValue<int>("Prewet.IdleKeepwetPauseBetweenScanSeconds");
            return Runner.Start(Module, "Start Delay Keepwet");
        }
    }
}