PunkHPX8/PunkHPX8_RT/Modules/ModuleHomeAllRoutine.cs

using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Routine;
using PunkHPX8_Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using PunkHPX8_RT.Modules.Transporter;

namespace PunkHPX8_RT.Modules
{
    public class ModuleHomeAllRoutine : RoutineBase, IRoutine
    {
        private enum HomeStep
        {
            Init,
            End
        }
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public ModuleHomeAllRoutine(string module) : base(module)
        {
        }

        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Stop");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Run(HomeStep.Init, NullFun, _delay_1ms)
                .End(HomeStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }

        public RState Start(params object[] objs)
        {
           return Runner.Start("System", "System Home All");
        }
    }
}