using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing.Design;
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using System.Linq;
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using System.Runtime.CompilerServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using static Bro.Common.Helper.EnumHelper;
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namespace Bro.M071.Process
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{
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public partial class M071Process
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{
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public Timer ResetTimer = null;
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object machineStateLock = new object();
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//MachineState _machineStatePre = MachineState.Unknown;
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MachineState machineState = MachineState.Unknown;
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public MachineState MachineState
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{
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get => machineState;
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set
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{
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if (machineState == value)
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return;
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LogAsync(DateTime.Now, $"设备状态切换:{machineState.ToString()}->{value.ToString()}", "");
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machineState = value;
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Task.Run(() =>
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{
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OnMachineStateChanged?.Invoke(machineState);
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switch (machineState)
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{
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case MachineState.Ready:
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lock (machineStateLock)
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{
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SwitchBeep(false);
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SwitchLightRed(false);
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SwitchLightYellow(false);
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}
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Task.Run(() =>
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{
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while (MachineState == MachineState.Ready)
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{
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lock (machineStateLock)
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{
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SwitchLightGreen(true);
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Thread.Sleep(1000);
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SwitchLightGreen(false);
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Thread.Sleep(1000);
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}
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}
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});
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break;
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case MachineState.Running:
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lock (machineStateLock)
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{
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SwitchBeep(false);
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SwitchLightRed(false);
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SwitchLightYellow(false);
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SwitchLightGreen(true);
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}
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break;
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case MachineState.Alarm:
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lock (machineStateLock)
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{
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SwitchBeep(true);
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SwitchLightRed(true);
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SwitchLightYellow(false);
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SwitchLightGreen(false);
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}
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break;
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case MachineState.Pause:
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lock (machineStateLock)
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{
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SwitchBeep(false);
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SwitchLightRed(false);
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}
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Task.Run(() =>
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{
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while (MachineState == MachineState.Pause)
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{
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lock (machineStateLock)
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{
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SwitchLightYellow(true);
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SwitchLightGreen(true);
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Thread.Sleep(1000);
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SwitchLightYellow(false);
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SwitchLightGreen(false);
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Thread.Sleep(1000);
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}
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}
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});
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break;
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case MachineState.Resetting:
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lock (machineStateLock)
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{
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SwitchBeep(false);
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SwitchLightRed(false);
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SwitchLightGreen(false);
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}
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Task.Run(() =>
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{
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while (MachineState == MachineState.Resetting)
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{
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lock (machineStateLock)
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{
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SwitchLightYellow(true);
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Thread.Sleep(1000);
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SwitchLightYellow(false);
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Thread.Sleep(1000);
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}
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}
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});
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break;
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default:
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break;
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}
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});
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}
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}
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private void Pause()
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{
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#region 板卡暂停动作
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outputCtrlCard.SetImmediatePause();
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#endregion
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//_pauseHandle.WaitHandle.Reset();
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//_pauseHandle.WaitResult = true;
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}
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private void Resume(bool isResumeContinueMoving)
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{
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#region 板卡恢复动作
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outputCtrlCard.ResetImmediatePause(isResumeContinueMoving);
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#endregion
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//_pauseHandle.WaitHandle.Set();
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//_pauseHandle.WaitResult = false;
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}
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private void MotionCardSettingCheck()
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{
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IDevice device = DeviceCollection.FirstOrDefault(u => u is IMotionCard);
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if (device?.InitialConfig is MotionCardInitialConfigBase iConfig)
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{
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outputCtrlCard = device as MotionCardBase;
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var redDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light_Red);
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if (redDefinition != null)
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{
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index_RedLight = redDefinition.IONum;
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}
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else
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{
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LogAsync(DateTime.Now, $"{iConfig.Name}未配置红色灯输出索引", "");
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}
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var greenDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light_Green);
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if (greenDefinition != null)
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{
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index_GreenLight = greenDefinition.IONum;
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}
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else
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{
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LogAsync(DateTime.Now, $"{iConfig.Name}未配置绿色灯输出索引", "");
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}
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var yellowDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light_Yellow);
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if (yellowDefinition != null)
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{
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index_YellowLight = yellowDefinition.IONum;
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}
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else
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{
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LogAsync(DateTime.Now, $"{iConfig.Name}未配置黄色灯输出索引", "");
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}
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var beepDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Beep);
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if (beepDefinition != null)
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{
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index_Beep = beepDefinition.IONum;
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}
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else
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{
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LogAsync(DateTime.Now, $"{iConfig.Name}未配置蜂鸣器输出索引", "");
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}
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var lightDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light);
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if (lightDefinition != null)
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{
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index_NormalLight = lightDefinition.IONum;
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}
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else
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{
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LogAsync(DateTime.Now, $"{iConfig.Name}未配置日光灯输出索引", "");
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}
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}
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else
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{
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LogAsync(DateTime.Now, "未配置板卡设备", "");
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}
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}
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[ProcessMethod("MotionCardBase", "GotoReadyPosition", "运动到预备位置", InvokeType.TestInvoke)]
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public ProcessResponse GotoReadyPosition(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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MotionCardDefaultRun("GotoReadyPosition", ref opConfig, ref invokeDevice);
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LogAsync(DateTime.Now, "运动到预备位置完成", "");
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return new ProcessResponse(true);
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}
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[ProcessMethod("MotionCardBase", "Reset", "简单复位操作", InvokeType.TestInvoke)]
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public ProcessResponse Reset(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (ResetTimer == null)
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{
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ResetTimer = new Timer(FullReset, null, -1, -1);
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}
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if (opConfig?.InputPara != null && opConfig.InputPara.Count > 0)
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{
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//大复位信号
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ResetTimer.Change(opConfig.InputPara[0] == 1 ? Config.FullResetRequiredDuration * 1000 : -1, -1);
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if (opConfig.InputPara[0] == 0)
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return new ProcessResponse(true);
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}
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if (!IsAllowedWork)
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{
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LogAsync(DateTime.Now, $"{SafetyMsg}，复位失败", "");
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return new ProcessResponse(false);
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}
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MotionCardDefaultRun("Reset", ref opConfig, ref invokeDevice);
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(invokeDevice as MotionCardBase).ResetAlarm();
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_isdoing = false;
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_pausedHandle.Set();
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RaisedAlarm("");
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OnCheckHintUpload?.Invoke("", false);
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//if (MachineState != MachineState.Pause)
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//{
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MachineState = MachineState.Ready;
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//}
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//else
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//{
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// LogAsync(DateTime.Now, "设备暂停中，无法复位", "");
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// return new ProcessResponse(true);
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//}
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if (IsEmergencyStopped)
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{
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RaisedAlarm("急停按钮未恢复，请执行大复位");
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MachineState = MachineState.Alarm;
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return new ProcessResponse(true);
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}
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LogAsync(DateTime.Now, "普通复位动作完成", "");
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OnResetDone?.Invoke();
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return new ProcessResponse(true);
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}
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private void FullReset(object state)
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{
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try
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{
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FullReset(null, null, null);
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}
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catch (Exception ex)
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{
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ExceptionRaisedInMonitor(ex);
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}
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}
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//[ProcessMethod("MotionCardOperationConfigCollection", "FullReset", "大复位操作", InvokeType.TestInvoke)]
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[ProcessMethod("MotionCardBase", "FullReset", "大复位操作", InvokeType.TestInvoke)]
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public ProcessResponse FullReset(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (!IsAllowedWork)
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{
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LogAsync(DateTime.Now, $"{SafetyMsg}，大复位失败", "");
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return new ProcessResponse(false);
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}
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if (MachineState == MachineState.Pause)
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{
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Resume(false);
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}
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MachineState = MachineState.Resetting;
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MotionCardDefaultRun("FullReset", ref opConfig, ref invokeDevice);
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lock (productionLock)
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{
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productionList.ForEach(u => u.Dispose());
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productionList.Clear();
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}
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OnFullResetDone?.Invoke();
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isFullResetCovered = true;
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LogAsync(DateTime.Now, "大复位动作完成", "");
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RaisedAlarm("");
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MachineState = MachineState.Ready;
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GotoReadyPosition(null, null, null);
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return new ProcessResponse(true);
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}
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/// <summary>
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/// 暂停标志
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/// WaitHandle 暂停句柄 默认为非阻塞 可执行
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/// WaitResult 暂停标志 true 正常执行 false 暂停中
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/// </summary>
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//ManualWaitConfirm _pauseHandle = new ManualWaitConfirm()
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//{
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// WaitHandle = new ManualResetEvent(true),
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// WaitResult = true,
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//};
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List<MachineState> _statesAllowPause = new List<MachineState>() { MachineState.Running, MachineState.Ready, MachineState.Pause };
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[ProcessMethod("", "SwitchJobStatus", "流程状态切换", InvokeType.TestInvoke)]
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public ProcessResponse SwitchJobStatus(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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{
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if (!_statesAllowPause.Contains(MachineState))
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return new ProcessResponse(-999);
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MotionCardBase motionDevice = sourceDevice as MotionCardBase;
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if (motionDevice == null)
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{
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motionDevice = DeviceCollection.FirstOrDefault(u => u is MotionCardBase) as MotionCardBase;
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}
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if (motionDevice == null)
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throw new ProcessException("未获取板卡设备");
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bool? isToPause = null; //true 暂停 false 继续
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if (opConfig.InputPara[0] == 10)
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{
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isToPause = false;
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}
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else if (opConfig.InputPara[0] == 11)
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{
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isToPause = true;
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}
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if (isToPause == null)
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{
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IsManualPaused = !IsManualPaused;
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}
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else
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{
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//if (isToPause.Value)
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//{
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// if (!_pauseHandle.WaitResult)
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// {
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// //#region 板卡暂停动作
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// //motionDevice.SetImmediatePause();
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// //#endregion
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// //_pauseHandle.WaitHandle.Reset();
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// //_pauseHandle.WaitResult = true;
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// MachineState = MachineState.Pause;
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// }
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//}
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//else
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//{
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// if (!_pauseHandle.WaitResult)
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// {
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// //#region 板卡恢复动作
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// //motionDevice.ResetImmediatePause();
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// //#endregion
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// //_pauseHandle.WaitHandle.Set();
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// //_pauseHandle.WaitResult = false;
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// MachineState = _machineStatePre;
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// }
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//}
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IsManualPaused = isToPause.Value;
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}
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return new ProcessResponse(IsManualPaused);
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}
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////[ProcessMethod("", "PauseJob", "暂停流程", InvokeType.TestInvoke)]
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//public ProcessResponse PauseJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// if (!_pauseHandle.WaitResult)
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// {
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// #region 板卡暂停动作
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// #endregion
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// _pauseHandle.WaitHandle.Reset();
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// }
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// _pauseHandle.WaitResult = !_pauseHandle.WaitResult;
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// return new ProcessResponse(_pauseHandle.WaitResult);
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//}
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////[ProcessMethod("", "ResumeJob", "继续流程", InvokeType.TestInvoke)]
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//public ProcessResponse ResumeJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// if (_pauseHandle.WaitResult)
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// {
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// #region 板卡恢复动作
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// #endregion
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// _pauseHandle.WaitHandle.Set();
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// }
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// _pauseHandle.WaitResult = !_pauseHandle.WaitResult;
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// return new ProcessResponse(_pauseHandle.WaitResult);
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//}
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#region 三色灯 & 蜂鸣器
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//[ProcessMethod("MotionCardBase", "SwitchLightRed", "切换指示灯-红", InvokeType.TestInvoke)]
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//public ProcessResponse SwitchLightRed(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// MotionCardDefaultRun("SwitchLightRed", ref opConfig, ref invokeDevice);
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// return new ProcessResponse(true);
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//}
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//[ProcessMethod("MotionCardBase", "SwitchLightYellow", "切换指示灯-黄", InvokeType.TestInvoke)]
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//public ProcessResponse SwitchLightYellow(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// return new ProcessResponse(true);
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//}
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//[ProcessMethod("MotionCardBase", "SwitchLightGreen", "切换指示灯-绿", InvokeType.TestInvoke)]
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//public ProcessResponse SwitchLightGreen(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// return new ProcessResponse(true);
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//}
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//[ProcessMethod("MotionCardBase", "SwitchBeep", "切换蜂鸣器", InvokeType.TestInvoke)]
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//public ProcessResponse SwitchBeep(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// return new ProcessResponse(true);
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//}
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//[ProcessMethod("MotionCardBase", "SwitchNormalLight", "切换日光灯", InvokeType.TestInvoke)]
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//public ProcessResponse SwitchNormalLight(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
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//{
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// MotionCardDefaultRun("SwitchNormalLight", ref opConfig, ref invokeDevice);
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// return new ProcessResponse(true);
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//}
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int index_RedLight = -1;
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int index_GreenLight = -1;
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int index_YellowLight = -1;
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int index_Beep = -1;
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int index_NormalLight = -1;
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MotionCardBase outputCtrlCard = null;
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public void SwitchLightRed(bool isOn)
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{
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if (index_RedLight >= 0)
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{
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if (outputCtrlCard != null)
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{
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outputCtrlCard.WriteOutput((short)index_RedLight, isOn ? IOValue.TRUE : IOValue.FALSE);
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}
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else
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{
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LogAsync(DateTime.Now, "未设置板卡输出设备", "");
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}
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}
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else
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{
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LogAsync(DateTime.Now, "红色灯未配置正确输出索引", "");
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}
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}
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public void SwitchLightYellow(bool isOn)
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{
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if (index_YellowLight >= 0)
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{
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if (outputCtrlCard != null)
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{
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outputCtrlCard.WriteOutput((short)index_YellowLight, isOn ? IOValue.TRUE : IOValue.FALSE);
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}
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else
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{
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LogAsync(DateTime.Now, "未设置板卡输出设备", "");
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}
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}
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else
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{
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LogAsync(DateTime.Now, "黄色灯未配置正确输出索引", "");
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}
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}
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public void SwitchLightGreen(bool isOn)
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{
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if (index_GreenLight >= 0)
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{
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if (outputCtrlCard != null)
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{
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outputCtrlCard.WriteOutput((short)index_GreenLight, isOn ? IOValue.TRUE : IOValue.FALSE);
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}
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else
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{
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LogAsync(DateTime.Now, "未设置板卡输出设备", "");
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}
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}
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else
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{
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LogAsync(DateTime.Now, "绿色灯未配置正确输出索引", "");
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}
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}
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public void SwitchLight(bool isOn)
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{
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if (index_NormalLight >= 0)
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{
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if (outputCtrlCard != null)
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{
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outputCtrlCard.WriteOutput((short)index_NormalLight, isOn ? IOValue.TRUE : IOValue.FALSE);
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}
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else
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{
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LogAsync(DateTime.Now, "未设置板卡输出设备", "");
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}
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}
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else
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{
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LogAsync(DateTime.Now, "照明灯未配置正确输出索引", "");
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}
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}
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public void SwitchBeep(bool isOn)
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{
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if (Config.IsBeepBlocked)
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return;
|
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if (index_Beep >= 0)
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{
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if (outputCtrlCard != null)
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{
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outputCtrlCard.WriteOutput((short)index_Beep, isOn ? IOValue.TRUE : IOValue.FALSE);
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}
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else
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{
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LogAsync(DateTime.Now, "未设置板卡输出设备", "");
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}
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}
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else
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{
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LogAsync(DateTime.Now, "蜂鸣器未配置正确输出索引", "");
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}
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}
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#endregion
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private void MotionCardDefaultRun(string methodCode, ref IOperationConfig opConfig, ref IDevice invokeDevice)
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{
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IMonitorSet monitorSet = null;
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if (opConfig == null || !(opConfig is MotionCardOperationConfigBase))
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{
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monitorSet = Config.MonitorSetCollection.FirstOrDefault(u => u.MethodCode == methodCode);
|
if (monitorSet == null)
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throw new ProcessException("未配置默认操作");
|
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opConfig = monitorSet.OpConfig;
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if (opConfig == null)
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throw new ProcessException("未配置具体配置动作");
|
}
|
|
if (invokeDevice == null)
|
{
|
invokeDevice = DeviceCollection.FirstOrDefault(u => u.Id == monitorSet.InvokeDevice);
|
if (invokeDevice == null)
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throw new ProcessException("未配置操作执行设备");
|
}
|
|
if (invokeDevice is MotionCardBase motionCard)
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{
|
var response = motionCard.Run(opConfig);
|
if (!response.Result)
|
{
|
throw new ProcessException($"{motionCard.Name}异常，{response.Message}", null, ExceptionLevel.Fatal);
|
}
|
}
|
}
|
|
bool IsAllowedWork
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{
|
get => !(IsSafetyBeamTrigged || IsSafetyDoorTrigged || IsEmergencyStopped);
|
}
|
|
string SafetyMsg
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{
|
get => $"{(IsSafetyBeamTrigged ? "安全光幕" : "")}{(IsSafetyDoorTrigged ? " 安全门" : "")}{(IsEmergencyStopped ? " 急停按钮" : "")}触发中";
|
}
|
|
#region 安全门 & 安全光线
|
bool isSafetyDoorTrigged = false;
|
bool isSafetyBeamTrigged = false;
|
bool isManualPaused = false;
|
|
public bool IsSafetyDoorTrigged
|
{
|
get => (!Config.IsSafetyDoorBlocked) && isSafetyDoorTrigged;
|
set
|
{
|
isSafetyDoorTrigged = value;
|
CheckMachinePauseState();
|
}
|
}
|
public bool IsSafetyBeamTrigged
|
{
|
get => (!Config.IsSafetyBeamBlocked) && isSafetyBeamTrigged;
|
set
|
{
|
isSafetyBeamTrigged = value;
|
CheckMachinePauseState();
|
}
|
}
|
|
public bool IsManualPaused
|
{
|
get => isManualPaused;
|
set
|
{
|
isManualPaused = value;
|
CheckMachinePauseState();
|
}
|
}
|
|
ManualResetEventSlim _pausedHandle = new ManualResetEventSlim(true);
|
MachineState _machineStateBeforePause = MachineState.Unknown;
|
object _pauseLock = new object();
|
private async void CheckMachinePauseState()
|
{
|
await Task.Run(() =>
|
{
|
lock (_pauseLock)
|
{
|
if (IsMachinePaused)
|
{
|
if (MachineState == MachineState.Ready || MachineState == MachineState.Running)
|
{
|
_machineStateBeforePause = MachineState;
|
}
|
MachineState = MachineState.Pause;
|
_pausedHandle.Reset();
|
|
if (_machineStateBeforePause == MachineState.Running)
|
{
|
Pause();
|
}
|
}
|
else
|
{
|
if (MachineState == MachineState.Pause)
|
{
|
if (_machineStateBeforePause == MachineState.Running || _machineStateBeforePause == MachineState.Ready)
|
{
|
Resume(true);
|
}
|
_pausedHandle.Set();
|
RaisedAlarm("");
|
MachineState = _machineStateBeforePause;
|
}
|
}
|
}
|
}
|
);
|
}
|
|
public bool IsMachinePaused
|
{
|
get => IsSafetyBeamTrigged || IsSafetyDoorTrigged || IsManualPaused;
|
}
|
|
[ProcessMethod("", "SafetyDoorSignal", "安全门信号监控，正常ON，OFF时报警", InvokeType.TestInvoke)]
|
[MethodImpl(MethodImplOptions.Synchronized)]
|
public ProcessResponse SafetyDoorSignal(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
|
{
|
//if (MachineState != MachineState.Running && MachineState != MachineState.Pause)
|
// return new ProcessResponse(true);
|
|
if (opConfig.InputPara == null || opConfig.InputPara.Count == 0)
|
throw new ProcessException("安全门监控未配置输入信号");
|
|
IsSafetyDoorTrigged = opConfig.InputPara[0] == 0;
|
|
if (IsSafetyDoorTrigged)
|
{
|
RaisedAlarm("安全门未正常关闭");
|
}
|
|
return new ProcessResponse(true);
|
}
|
|
[ProcessMethod("", "SafetyBeamSignal", "安全光幕信号监控，正常ON，OFF时报警", InvokeType.TestInvoke)]
|
[MethodImpl(MethodImplOptions.Synchronized)]
|
public ProcessResponse SafetyBeamSignal(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
|
{
|
if (opConfig.InputPara == null || opConfig.InputPara.Count == 0)
|
throw new ProcessException("安全光幕监控未配置输入信号");
|
|
IsSafetyBeamTrigged = opConfig.InputPara[0] == 0;
|
|
if (IsSafetyBeamTrigged)
|
{
|
RaisedAlarm("安全光线被遮挡");
|
}
|
|
return new ProcessResponse(true);
|
}
|
#endregion
|
|
#region 急停
|
bool isEmergencyStopped = false;
|
bool isFullResetCovered = true;
|
public bool IsEmergencyStopped
|
{
|
get => isEmergencyStopped && isFullResetCovered;
|
set
|
{
|
if (value)
|
{
|
isFullResetCovered = false;
|
isEmergencyStopped = true;
|
}
|
else
|
{
|
isEmergencyStopped = false;
|
}
|
}
|
}
|
|
[ProcessMethod("", "EmergencyStop", "急停按钮被拍下", InvokeType.TestInvoke)]
|
public ProcessResponse EmergencyStop(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
|
{
|
if (opConfig.InputPara == null || opConfig.InputPara.Count == 0)
|
throw new ProcessException("急停按钮未配置输入信号");
|
|
IsEmergencyStopped = opConfig.InputPara[0] == 0;
|
|
if (isEmergencyStopped)
|
{
|
RaisedAlarm("急停按钮被拍下");
|
MachineState = MachineState.Alarm;
|
}
|
|
return new ProcessResponse(true);
|
}
|
#endregion
|
}
|
}
|
