PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellUnloadRoutine.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.RT.SCCore;
using Aitex.Core.Util;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using PunkHPX8_RT.Devices.AXIS;
using PunkHPX8_RT.Devices.PlatingCell;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellUnloadRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            VerticalGotoLoad,
            CheckVerticalGotoLoad,
            ClamShellOpen,
            End
        }
        #region 常量
        #endregion

        /// <summary>
        /// Platingcell device
        /// </summary>
        private PlatingCellDevice _device;
        /// <summary>
        /// vertical axis entity
        /// </summary>
        private PlatingCellVerticalEntity _verticalEntity;
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellUnloadRoutine(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(RunRecipeStep.VerticalGotoLoad, () => StartVertical("Load"), _delay_1ms)
                  .WaitWithStopCondition(RunRecipeStep.CheckVerticalGotoLoad, CheckVerticalEnd, CheckVerticalError)
                  .Run(RunRecipeStep.ClamShellOpen, () => _device.ClamShellOpen(), CheckClamShellOpen, _delay_1s)
                  .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// vertical 运行
        /// </summary>
        /// <param name="positionName"></param> 目标位置名称
        /// <param name="offset"></param> 偏移量
        /// <returns></returns>
        private bool StartVertical(string positionName)
        {
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, PlatingCellVerticalEntity.VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                    Module, (int)PlatingCellVerticalEntity.VerticalMsg.Position, positionName,0);
        }
        /// <summary>
        /// 检验垂直电机是否运动完成
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalEnd()
        {
            return _verticalEntity.IsIdle;
        }
        /// <summary>
        /// 检验垂直是否出现错误
        /// </summary>
        /// <returns></returns>
        private bool CheckVerticalError()
        {
            return _verticalEntity.IsError;
        }

        /// <summary>
        /// 检查ClamShell是否Open
        /// </summary>
        /// <returns></returns>
        private bool CheckClamShellOpen()
        {
            return _device.PlatingCellDeviceData.ClamShellOpened;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _device = DEVICE.GetDevice<PlatingCellDevice>(Module);
            //获取vertical entity
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            return Runner.Start(Module, "start unload");
        }
    }
}