PunkHPX8/PunkHPX8_RT/Modules/PlatingCell/PlatingCellRunRecipeRoutine.cs

using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.Utilities;
using PunkHPX8_Core;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace PunkHPX8_RT.Modules.PlatingCell
{
    public class PlatingCellRunRecipeRoutine : RoutineBase, IRoutine
    {
        private enum RunRecipeStep
        {
            Delay,
            InterRinse,
            CheckInterRinse,
            Vertical,
            CheckVertical,
            End
        }
        #region 内部变量
        private PlatingCellInterRinseRoutine _interRinseRoutine;
        private PlatingCellVerticalEntity _verticalEntity;
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public PlatingCellRunRecipeRoutine(string module) : base(module)
        {
            _interRinseRoutine=new PlatingCellInterRinseRoutine(module);
        }
        /// <summary>
        /// 中止
        /// </summary>
        public void Abort()
        {
            Runner.Stop("Manual Abort");
        }
        /// <summary>
        /// 监控
        /// </summary>
        /// <returns></returns>
        public RState Monitor()
        {
            Runner.Delay(RunRecipeStep.Delay, 5000)
                .Run(RunRecipeStep.InterRinse, () => { return _interRinseRoutine.Start() == RState.Running; })
                .WaitWithStopCondition(RunRecipeStep.CheckInterRinse,()=>CommonFunction.CheckRoutineEndState(_interRinseRoutine),
                ()=>CommonFunction.CheckRoutineStopState(_interRinseRoutine))
                .Run(RunRecipeStep.Vertical,StartVertical)
                .WaitWithStopCondition(RunRecipeStep.CheckVertical,CheckVerticalEnd,CheckVerticalError)
                .End(RunRecipeStep.End, NullFun);
            return Runner.Status;
        }
        /// <summary>
        /// 垂直电机运行（仅示例只做参考）
        /// </summary>
        /// <returns></returns>
        private bool StartVertical()
        {
            double position = 101;
            return _verticalEntity.CheckToPostMessage<PlatingCellVerticalState, VerticalMsg>(Aitex.Core.RT.Log.eEvent.INFO_PLATINGCELL,
                Module, (int)VerticalMsg.Position, position);
        }
        /// <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>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            string vertical = ModuleMatcherManager.Instance.GetPlatingVerticalByCell(Module);
            _verticalEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellVerticalEntity>(vertical);
            return Runner.Start(Module, "Run Recipe");
        }
    }
}