void Run()
{
while (true)
{
CheckError();
GetCurrentPos();
try
{
sw.Restart();
switch (m_SeqState)
{
case SeqState.none:
break;
case SeqState.initialize:
break;
case SeqState.wait:
break;
case SeqState.start:
foreach (string strAxis in ListOfAxis)
{
MovePosition(strAxis, 0);
}
if (false == IsMoving())
{
m_SeqState = SeqState.Action;
ntick = 0;
}
break;
case SeqState.Action:
//if (false == IsMoving())
//{
// double dbPosition_U = 2 * Math.Sin(Math.PI * 0.2 * ntick);
// double dbPosition_V = 2 * Math.Cos(Math.PI * 0.2 * ntick);
// RotateAction(dbPosition_U, dbPosition_V);
//}
double dbPosition_U = 5 * Math.Sin(Math.PI * 0.1 * ntick);
double dbPosition_V = 5 * Math.Cos(Math.PI * 0.1 * ntick);
RotateAction(dbPosition_U, dbPosition_V);
break;
case SeqState.stop:
ntick = 0;
m_ActionState = ActionState.first;
m_SeqState = SeqState.wait;
break;
}
Thread.Sleep(50);
sw.Stop();
Console.WriteLine("Time :" + sw.ElapsedMilliseconds.ToString() + "msec");
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
}
public void Connect()
{
m_ID = PI.GCS2.InterfaceSetupDlg("");
if (m_ID > -1)
{
CompleteConnectionProcess();
m_SeqState = SeqState.wait;
}
}
public void Reset(bool regenSeqList)
{
if (regenSeqList)
{
SeqList = this.BuildSeqList(this._sinc);
}
SeqStep = -1;
_state = SeqState.SeqDone;
this.SecuenciaReinicia();
}
public IAutomaton Next(int i)
{
var s1 = State1.Next(i);
if (State1.Empty)
{
var s2 = State2.Next(i);
return(OrState.Create(s2, SeqState.Create(s1, State2)));
}
else
{
return(SeqState.Create(s1, State2));
}
}
private StarState(IAutomaton a)
{
Child = a;
unpacked = SeqState.Create(a, this);
}
public void Ejecutar()
{
bool suspend = false;
if (_state == SeqState.SeqDone)
{
_state = SeqState.SeqInProgress;
this.SecuenciaComienza();
}
for (int i = SeqStep + 1; i < SeqList.Count; i++)
{
if (SeqList[i].GetType() == typeof(Operacion))
{
ActiveOperation = (Operacion)SeqList[i];
suspend = this.Exec((Operacion)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(PreSincro))
{
ActiveTask = (PreSincro)SeqList[i];
suspend = this.Exec((PreSincro)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(Sincro))
{
ActiveTask = (Sincro)SeqList[i];
suspend = this.Exec((Sincro)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(PostSincro))
{
ActiveTask = (PostSincro)SeqList[i];
suspend = this.Exec((PostSincro)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(Complemento))
{
ActiveTask = (Complemento)SeqList[i];
suspend = this.Exec((Complemento)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(CmdSeleccionar))
{
suspend = this.Exec((CmdSeleccionar)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(CmdComparar))
{
suspend = this.Exec((CmdComparar)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(CmdAvisar))
{
suspend = this.Exec((CmdAvisar)SeqList[i]);
}
if (SeqList[i].GetType() == typeof(CmdSincronizar))
{
CmdSincronizar c = (CmdSincronizar)SeqList[i];
//Fase de configuración de excepciones
suspend = this.Exec(c, SyncroStep.ExceptionsCfg);
//Fase de simulación
suspend = this.Exec(c, SyncroStep.Simulation);
//Fase de sincronización
if (!suspend)
{
suspend = this.Exec(c, SyncroStep.Transaction);
}
}
if (SeqList[i].GetType() == typeof(CmdEditar))
{
suspend = this.Exec((CmdEditar)SeqList[i]);
}
SeqStep = i;
if (suspend)
{
break;
}
}
if (SeqStep == SeqList.Count - 1)
{
_state = SeqState.SeqDone;
SeqStep = -1;
this.SecuenciaTermina();
}
}