SHJX_GM/SHJX.Service.Control/Pipeline/Nodes/MoveNodes/TongsGrab.cs

using System.Windows.Threading;
using SHJX.Service.Control.Extends;

namespace SHJX.Service.Control.Pipeline.Nodes.MoveNodes
{
    public class TongsGrab : INode
    {
        private static readonly ILogger logger = LogFactory.BuildLogger(typeof(TongsGrab));

        #region Fields
        private static IDataManager _dataManager;
        private static TaskExtend _taskExtend;
        private static ReadConfigUtil _config;
        #endregion

        public TongsGrab(IDataManager dataManager, TaskExtend taskExtend, ReadConfigUtil config)
        {
            Name = nameof(TongsGrab);
            _config = config;
            _dataManager = dataManager;
            _taskExtend = taskExtend;
        }

        public override INode Invoke()
        {
            bool writeResponse = EquipmentNames.Tongs.RegisterOpen();//这里弄抓杯反馈
            if (_config.TongsFeedBack)
            {
                var judgeCount = 0;
                Policy.HandleResult<bool>(Arg => Arg.Equals(false)).Retry(3, (resultArg, retryCount) =>
                {
                    #region 松开
                    writeResponse = EquipmentNames.Tongs.RegisterClose();
                    #endregion
                    Thread.Sleep(500);
                    #region 抓取
                    writeResponse = writeResponse && EquipmentNames.Tongs.RegisterOpen();
                    #endregion
                    judgeCount = retryCount;
                }).Execute(() =>
                {
                    Thread.Sleep(500);
                    char[] readRes = EquipmentNames.Tongs.MotorRead(); //这里需要读取
                    bool judgeRes = readRes[4].Equals('0');
                    #region 任务取消，加入取消缓存
                    if (judgeCount.Equals(3) && !judgeRes)
                    {
                        ExcuteNextStep();
                    }
                    #endregion
                    writeResponse = judgeRes;
                    return judgeRes;
                });
                if (!writeResponse)
                {
                    logger.LogDebug($"任务取消后，不进行后续操作！！！");
                    return null;

                }
            }
            //if ( _config.TongsFeedBack)
            //{
            //    char[] readRes = EquipmentNames.Tongs.MotorRead(); //这里需要读取
            //    bool judge = readRes[4].Equals('0');
            //    if (!judge)
            //    {
            //        ExcuteNextStep();
            //        return null;
            //    }
            //}
            return this;
        }
        private void ExcuteNextStep()
        {
            EquipmentNames.Tongs.RegisterClose();
            bool seekhome = EquipmentNames.AxisZ.MotorGoBack();
            if (seekhome)
            {
                CurrentTask.Status = TaskState.Finished;
                _dataManager.Update(CurrentTask);
                logger.LogDebug("任务被取消，后续步骤不再执行！");
            }
            if (CurrentTask.To.In("D1", "L1"))
            {
                EquipmentArea releaseArea = _dataManager.Query<EquipmentArea>().Where(item => item.PointName.Equals(CurrentTask.To)).First();
                if (releaseArea is not null)
                {
                    releaseArea.Enable = true;
                    _dataManager.Update(releaseArea);
                    logger.LogDebug($"任务取消后,{releaseArea.PointName}被释放！");
                }
            }
            RouteCache cache = _dataManager.Query<RouteCache>().Where(item => item.Source.Equals(CurrentTask.Source)).First();
            if (cache is not null)
            {
                _dataManager.Delete(cache);
                logger.LogDebug($"任务取消后,{CurrentTask.Source}缓存被删除！");
            }
            var rows = _dataManager.Update<StateMachine>().Invoke(it => it.Status.Set(0))(it => it.Name.Equals(StateMachineName.MOTOR_LOCK));
            if (rows > 0)
            {
                logger.LogDebug($"任务取消后,{StateMachineName.MOTOR_LOCK}状态被解锁！");
            }
            ThreadPool.QueueUserWorkItem(delegate
            {
                SynchronizationContext.SetSynchronizationContext(new DispatcherSynchronizationContext(System.Windows.Application.Current.Dispatcher));
                SynchronizationContext.Current?.Post(pl =>
                {
                    _config.UpdateTaskRunning(false);
                    Messager<string>.Send("ChangePauseIconSendMesg");
                    UMessageBox.SingleBtnInfo("任务暂停\n当前抓取位置异常，未检测到杯子\n请检查相应位置是否正确或联系售后工程师!");
                }, null);
            });
        }
    }
}