CyberX8/CyberX8_RT/Modules/SRD/SRDSwitchOffRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using CyberX8_Core;
using CyberX8_RT.Devices.AXIS;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace CyberX8_RT.Modules.Transporter
{
    public class SRDSwitchOffRoutine : RoutineBase, IRoutine
    {
        private enum SwitchOffStep
        {
            Arm,
            Rotation,
            End
        }
        #region 内部变量
        private JetAxisBase _armAxis;
        private JetAxisBase _rotationAxis;
        private int _timeOut = 1000;
        #endregion

        #region 属性
        /// <summary>
        /// 当前子状态机
        /// </summary>
        public string CurrentStateMachine
        {
            get { return Runner.CurrentStep.ToString(); }
        }
        #endregion

        public SRDSwitchOffRoutine(string module) : base(module)
        {
        }

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

        public RState Monitor()
        {
            Runner.Run(SwitchOffStep.Arm, ArmAxisSwitchOff, CheckArmSwitchOff, _timeOut)
                .Run(SwitchOffStep.Rotation, RotationAxisSwitchOff, CheckRotationSwitchOff, _timeOut)
                .End(SwitchOffStep.End,NullFun);

            return Runner.Status; 
        }
       
        private bool ArmAxisSwitchOff()
        {
            return _armAxis.SwitchOff();
        }
        private bool CheckArmSwitchOff()
        {
            return !_armAxis.IsSwitchOn&&_armAxis.Status==RState.End;
        }
        private bool RotationAxisSwitchOff()
        {
            return _rotationAxis.SwitchOff();
        }

        private bool CheckRotationSwitchOff()
        {
            return !_rotationAxis.IsSwitchOn&&_rotationAxis.Status==RState.End;
        }


        public RState Start(params object[] objs)
        {
            _armAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Arm");
            _rotationAxis = DEVICE.GetDevice<JetAxisBase>($"{Module}.Rotation");
            Runner.Start(Module, "SwitchOff");
            return RState.Running;
        }
    }
}