TeamAAS-2.5/TeamAAS.Core/TeamAAS.Motion/Motions/MasterFollowSession.cs

using System;
using System.Collections.Generic;
using System.Linq;
using TeamAAS.Global.Devices;

namespace TeamAAS.Motion.Motions
{
    /// <summary>
    /// 主从会话：仅在单独驱动某条主轴时挂上从轴；其它运动先解除。
    /// </summary>
    internal interface IMasterFollowHost
    {
        void BeginSoloMasterFollow(int masterAxisNo, IEnumerable<IAxis> slaves);
        void ReleaseMasterFollow();
        IDisposable SuspendFollowRelease();
    }

    internal sealed class MasterFollowSession
    {
        private int _master = -1;
        private readonly List<IAxis> _slaves = new List<IAxis>();
        private int _suspend;
        private bool _releasing;

        public int ActiveMaster => _master;
        public bool Suspended => _suspend > 0;
        public bool IsReleasing => _releasing;

        public IDisposable Suspend()
        {
            _suspend++;
            return new Releaser(() =>
            {
                if (_suspend > 0) _suspend--;
            });
        }

        public void Begin(int masterAxisNo, IEnumerable<IAxis> slaves)
        {
            if (masterAxisNo != _master)
                Release();
            _master = masterAxisNo;
            _slaves.Clear();
            if (slaves == null) return;
            foreach (var s in slaves)
            {
                if (s == null) continue;
                if (!s.IsEnabled) s.Enable();
                _slaves.Add(s);
            }
        }

        public void Release()
        {
            if (_releasing || _master < 0) return;
            _releasing = true;
            try
            {
                foreach (var s in _slaves.ToList())
                {
                    try { s.Stop(); } catch { }
                }
            }
            finally
            {
                _master = -1;
                _slaves.Clear();
                _releasing = false;
            }
        }

        public void Clear()
        {
            _master = -1;
            _slaves.Clear();
            _suspend = 0;
            _releasing = false;
        }

        private sealed class Releaser : IDisposable
        {
            private Action _onDispose;
            public Releaser(Action onDispose) => _onDispose = onDispose;
            public void Dispose()
            {
                _onDispose?.Invoke();
                _onDispose = null;
            }
        }
    }
}