Virgo_ST/VirgoRT/Modules/EntityTaskBase.cs

using System.Collections.Generic;
using System.Linq;
using Aitex.Core.RT.Routine;
using MECF.Framework.Common.Equipment;

namespace VirgoRT.Modules
{
    public class EntityTaskBase
    {
        protected Queue<IRoutine> QueueRoutine
        {
            get { return _routine; }
        }

        private Queue<IRoutine> _routine = new Queue<IRoutine>();

        public Result Start(IRoutine routine)
        {
            QueueRoutine.Clear();

            QueueRoutine.Enqueue(routine);

            return QueueRoutine.Peek().Start();
        }

        public Result TaskStart()
        {
            if (_routine.Count == 0)
                return Result.DONE;

            Result ret = Result.DONE;
            var lst = _routine.ToList();
            for (int i = 0; i < lst.Count; i++)
            {
                ret = lst[i].Start();
                if (ret == Result.DONE)
                {
                    _routine.Dequeue();
                    continue;
                }
                else
                {
                    break;
                }
            }
            return Result.RUN;
        }

        public Result TaskMonitor()
        {
            if (_routine.Count == 0)
                return Result.DONE;

            IRoutine routine = _routine.Peek();

            Result ret = routine.Monitor();
            if (ret == Result.DONE)
            {
                _routine.Dequeue();

                var lst = _routine.ToList();
                for (int i = 0; i < lst.Count; i++)
                {
                    ret = lst[i].Start();
                    if (ret == Result.DONE)
                    {
                        _routine.Dequeue();
                        continue;
                    }
                    else
                    {
                        break;
                    }
                }
            }

            return ret;
        }

        public void Abort()
        {
            if (_routine != null)
            {
                _routine.Peek().Abort();
                _routine.Clear();
            }
        }
    }
}

namespace VirgoRT
{
    abstract class ActionBase
    {
        private static ushort _id = 100;

        //---------------------------------Properties------------------------------------
        // 
        public ushort ID { get; }
        public ModuleName Module { get; protected set; }
        public virtual ActionStatus Status { get; set; }

        public virtual bool IsReady { get; set; }

        public bool IsBackground { get; set; }


        //--------------------------------Constructor------------------------------------
        // 
        protected ActionBase(ModuleName mod)
        {
            this.ID = _id++;
            this.Module = mod;
            this.Status = ActionStatus.Pending;
        }

        public virtual void Execute()
        {
            this.Status = ActionStatus.SendCmd;
        }

        protected virtual void OnPreWork() {  }

        public virtual void OnPostWork(string data = null) { }

        public virtual void OnError(string data = null) { }


    }
}