RealSys.MotionPlat/Rs.MotionPlat/Flow/Space/longmenTest.cs

using Rs.Controls;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow.Space
{
    enum ELongmenTestStep
    {
        gotoStartPos,
        waitArriveStartPos,
        gotoEndPos,
        waitArriveEndPos
    }
    public class longmenTest:BaseFlow
    {
        private static longmenTest instance;
        public static longmenTest Instance
        {
            get
            {
                if (instance == null)
                    instance = new longmenTest();
                return instance;
            }
        }

        ELongmenTestStep step= ELongmenTestStep.gotoStartPos;

        public override void Run()
        {
            switch (step)
            {
                case ELongmenTestStep.gotoStartPos:
                    AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
                    AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
                    AxisControl.TurnoverY.MovePos(SysConfigParam.GetValue<double>("TurnoverYStartPos"), GlobalVar.WholeSpeed);
                    step = ELongmenTestStep.waitArriveStartPos;
                    break;
                case ELongmenTestStep.waitArriveStartPos:
                    if(Ops.IsStop("LoadX", "LoadY", "TurnoverY"))
                    {
                        step = ELongmenTestStep.gotoEndPos;
                    }
                    break;
                case ELongmenTestStep.gotoEndPos:
                    AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXEndPos"), GlobalVar.WholeSpeed);
                    AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYEndPos"), GlobalVar.WholeSpeed);
                    AxisControl.TurnoverY.MovePos(SysConfigParam.GetValue<double>("TurnoverYEndPos"), GlobalVar.WholeSpeed);
                    step = ELongmenTestStep.waitArriveEndPos;
                    break;
                case ELongmenTestStep.waitArriveEndPos:
                    if (Ops.IsStop("LoadX", "LoadY", "TurnoverY"))
                    {
                        step = ELongmenTestStep.gotoStartPos;
                    }
                    break;
            }
        }
    }
}