/// <summary>
/// 平台运动前安全检查
/// </summary>
/// <param name="i"></param>
/// <param name="target"></param>
/// <returns></returns>
public virtual bool RunSafeCheck(SafeCheckType target = SafeCheckType.Always, int i = -1)
{
LastSafeCheckError = string.Empty;
if (SafeChecks.Count > 0)
{
var sc = SafeChecks.FindAll(s => s.Enable && s.Target == SafeCheckType.Always || s.Target == target);
if (sc.Count > 0)
{
var ret = sc.All(s => s.Check(this, i));
LastSafeCheckError = string.Join(",", sc.Select(s => s.Error));
//throw exception on task thread
if (_isAutoMode && !ret)
{
Task?.ThrowException($"{Name} {LastSafeCheckError}");
}
return(ret);
}
}
if (Task != null)
{
AssertAutoMode(Task);
}
return(true);
}
public CarrierSafeCheck(PlatformEx up, PlatformEx down, ICylinderEx downGT, SafeCheckType target)
{
Target = target;
Up = up;
Down = down;
DownGT = downGT;
}
public UpSafeCheck(PlatformEx carrier, SafeCheckType target)
{
Target = target;
Carrier = carrier;
}
public DownSafeCheck(PlatformEx carrier, ICylinderEx downGt, SafeCheckType target)
{
Carrier = carrier;
DownGt = downGt;
Target = target;
}
