Kepler-Release/Venus/Venus_RT/Modules/VCE/VCEHomeRoutine.cs

using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices.VCE;

namespace Venus_RT.Modules.VCE
{
    public class VCEHomeRoutine : ModuleRoutineBase, IRoutine
    {
        private enum homestep
        {
            VCEServerUp,
            VCEHOME,
            VCEGotoLP
        }

        VCEModuleBase _vce;
        //2024-06-05 09:12:23 支伟星 执行home动作后下降到LP位置 原因vent空间的压缩
        public VCEHomeRoutine(ModuleName module, VCEModuleBase vce) : base(module)
        {
            _vce = vce;
        }

        public RState Start(params object[] objs)
        {
            Reset();
            return Runner.Start(Module, "Vce Load Routine");
        }

        public RState Monitor()
        {
            Runner.Run(homestep.VCEServerUp, ServerUp, VceIsIdle)
                  .Run(homestep.VCEHOME, HomeAll, VceIsIdle)
                  .End(homestep.VCEGotoLP, GotoLP, VceIsIdle);

            return Runner.Status;
        }

        public bool ServerUp()
        {
            return _vce.ServerUp();
        }

        public bool HomeAll()
        {
            return _vce.HomeALL();
        }

        public bool GotoLP()
        {
            return _vce.GotoLP();
        }


        public bool VceIsIdle()
        {
            if (_vce.Status == RState.Timeout || _vce.Status == RState.Failed)
            {
                Singleton<RouteManager>.Instance.GetVCE(Module).PostMsg(VceMSG.Error);
                return false;
            }

            return _vce.Status == RState.End;
        }

        public void Abort()
        {

        }


    }
}