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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Tango.PMR.Diagnostics;
using Tango.PMR.Hardware;
namespace Tango.PPC.Maintenance.Commands
{
public abstract class HomingMotorCommand : MaintenanceCommand<object>
{
public HardwareMotorType Motor { get; set; }
public MotorDirection Direction { get; set; }
public double Speed { get; set; }
public String HomingMessage { get; set; }
public String ErrorMessage { get; set; }
public String SuccessMessage { get; set; }
public HomingMotorCommand(HardwareMotorType motor,
MotorDirection direction,
double speed,
string homingMessage,
string errorMessage,
string successMessage)
{
Motor = motor;
Direction = direction;
Speed = speed;
HomingMessage = homingMessage;
ErrorMessage = errorMessage;
SuccessMessage = successMessage;
}
protected override void OnExecute()
{
IsEnabled = false;
try
{
NotificationProvider.SetGlobalBusyMessage(HomingMessage);
MachineProvider.MachineOperator.StartMotorHoming(new PMR.Diagnostics.MotorHomingRequest()
{
Direction = Direction,
MotorType = Motor,
Speed = Speed,
}).Subscribe((response) =>
{
//Next
}, (ex) =>
{
//Error
IsEnabled = true;
NotificationProvider.ReleaseGlobalBusyMessage();
LogManager.Log(ex, ErrorMessage);
NotificationProvider.ShowError(ex.FlattenMessage());
}, () =>
{
//Complete
IsEnabled = true;
NotificationProvider.ReleaseGlobalBusyMessage();
NotificationProvider.ShowSuccess(SuccessMessage);
});
}
catch (Exception ex)
{
LogManager.Log(ex, ErrorMessage);
NotificationProvider.ReleaseGlobalBusyMessage();
NotificationProvider.ShowError(ex.FlattenMessage());
IsEnabled = true;
}
}
}
}
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