PunkHPX8/PunkHPX8_RT/Modules/ReservoirCellHomeRoutine.cs

using Aitex.Core.RT.Fsm;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Routine;
using MECF.Framework.Common.ToolLayout;
using PunkHPX8_Core;
using PunkHPX8_RT.Modules.PlatingCell;
using PunkHPX8_RT.Modules.Reservoir;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Markup;

namespace PunkHPX8_RT.Modules
{
    public class ReservoirCellHomeRoutine : RoutineBase, IRoutine
    {
        private enum ReservoirStep
        {
            ReservoirHome,
            ReservoirHomeWait,
            WaitMatcherIdle,
            CellHome,
            End,
        }
        #region 内部变量
        private ReservoirEntity _reservoirEntity;
        private PlatingCellEntity _platingCellEntity;
        private string _matcher = "";
        #endregion
        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="module"></param>
        public ReservoirCellHomeRoutine(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.RunIf(ReservoirStep.ReservoirHome, _reservoirEntity.IsAuto, ReservoirHome, _delay_1ms)
                .WaitWithStopConditionIf(ReservoirStep.ReservoirHomeWait,_reservoirEntity.IsAuto,() => { return _reservoirEntity.IsIdle; }, () => { return _reservoirEntity.State != ReservoirState.Initializing && !_reservoirEntity.IsIdle; })
                .Wait(ReservoirStep.WaitMatcherIdle,ChechMatcherIdle,_delay_2m)
                .Run(ReservoirStep.CellHome, MetalsHome, _delay_1ms)
                .End(ReservoirStep.End, NullFun, _delay_1ms);
            return Runner.Status;
        }
        /// <summary>
        /// Reservoir Home
        /// </summary>
        /// <returns></returns>
        private bool ReservoirHome()
        {
            int reservoirInvoke = _reservoirEntity.Invoke("HomeAll");
            return reservoirInvoke==(int)ReservoirMsg.Initialize;
        }
        /// <summary>
        /// 检验匹配另一个是否完成Idle
        /// </summary>
        /// <returns></returns>
        private bool ChechMatcherIdle()
        {
            ReservoirItem reservoirItem = ReservoirItemManager.Instance.GetReservoirItem(Module.ToString());
            if (reservoirItem == null)
            {
                return false;
            }
            List<PlatingCellItem> platingCellItems = reservoirItem.PlatingCells;
            if (platingCellItems == null || platingCellItems.Count == 0)
            {
                return false;
            }
            foreach (PlatingCellItem item in platingCellItems)
            {
                if (!item.Installed)
                {
                    continue;
                }
                _platingCellEntity= Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(item.ModuleName);
                _matcher=ModuleMatcherManager.Instance.GetMatcherByModule(item.ModuleName);
                break;
            }
            if (string.IsNullOrEmpty(_matcher))
            {
                return false;
            }

            if (ModuleMatcherManager.Instance.IsMatcherFirst(_platingCellEntity.Module.ToString()))
            {
                return true;
            }

            PlatingCellEntity matherEntity = Singleton<RouteManager>.Instance.GetModule<PlatingCellEntity>(_matcher);
            if(matherEntity == null)
            {
                return true;
            }
            if (matherEntity.IsDisable)
            {
                return true;
            }
            if (!matherEntity.IsAuto)
            {
                return true;
            }
            if (matherEntity.IsError)
            {
                return true;
            }
            return matherEntity.IsIdle;
        }
        /// <summary>
        /// Metal Home
        /// </summary>
        /// <returns></returns>
        private bool MetalsHome()
        {
            if (_platingCellEntity.IsAuto)
            {
                _platingCellEntity.Invoke("HomeAll");
            }
            return true;
        }
        /// <summary>
        /// 启动
        /// </summary>
        /// <param name="objs"></param>
        /// <returns></returns>
        public RState Start(params object[] objs)
        {
            _reservoirEntity = Singleton<RouteManager>.Instance.GetModule<ReservoirEntity>(Module);
            return Runner.Start(Module.ToString(), "Reservoir PlatingCell Home");
        }
        
    }
}