1. 板卡驱动实现运动暂停/继续功能，板卡动作衔接实现暂停/继续 2. 修复部分调试bug 3. 安全光幕/安全门功能调整

xcd

2020-07-14 0d10528b430721512e0e93e0d455fcec44207ec9

 src/Bro.Common.Device/DeviceBase/MotionCardBase.cs

@@ -20,7 +20,26 @@
    {
        public event Action<DateTime, string, IDevice, IMonitorSet> OnMonitorInvoke;
        public event Action<DateTime, IDevice, IWarningSet> OnMonitorAlarm;
        public event Action<int, string> OnAxisAlarmRaised;
        public event Action<int, int, int> OnAxisStatusChanged;

        public void AxisAlarmRaised(int axisIndex, string msg)
        {
            OnAxisAlarmRaised?.Invoke(axisIndex, msg);
        }

        public void AxisStatusChanged(int axisIndex, int preStatus, int curStatus)
        {
            OnAxisStatusChanged?.Invoke(axisIndex, preStatus, curStatus);
        }

        protected override void Start()
        {
            Task.Run(() =>
            {
                Monitor();
            });
        }
        public abstract List<AxisInfo> GetCurrentAxisInfo(params string[] axisName);
        public abstract void Monitor();
        public abstract ResponseMessage MoveToPoint(IOperationConfig opConfig);
@@ -99,9 +118,21 @@
        /// <summary>
        /// 轴的运动状态值
        /// </summary>
        public List<AxisMovingStatus> AxisMovingOptionValues { get; set; } = new List<AxisMovingStatus>();
        public List<AxisMovingStatus> AxisStatusList { get; set; } = new List<AxisMovingStatus>();

        public abstract void WriteOutput(short index, IOValue value);

        #region ImmediatePause
        /// <summary>
        /// 启动立即暂停
        /// </summary>
        public abstract void SetImmediatePause();

        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public abstract void ResetImmediatePause(bool isResumeMoving);
        #endregion
    }

    public class MotionCardInitialConfigBase : InitialConfigBase, IMonitorConfig
@@ -109,7 +140,7 @@
        [Category("板卡配置")]
        [DisplayName("卡号")]
        [Description("CardNum：卡号")]
        public int CardNum { get; set; }
        public int CardNum { get; set; } = 1;

        [Category("板卡配置")]
        [DisplayName("初始配置文件路径")]
@@ -151,6 +182,10 @@
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(ComplexCollectionEditor<IODefinition>), typeof(UITypeEditor))]
        public List<IODefinition> IODefinitionCollection { get; set; } = new List<IODefinition>();

        [Category("IO配置")]
        [Description("true：输出取反 false：输出不取反")]
        public bool IsOutputReversed { get; set; } = true;

        #region IMonitorConfig
        [Category("监听设置")]
@@ -237,40 +272,51 @@
    [Device("MotionOperationSet", "运动操作配置基类", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class MotionCardOperationSet : IComplexDisplay
    {
        [Category("IO操作配置")]
        [DisplayName("IO预检查定义集合")]
        [Category("1.IO操作配置")]
        [DisplayName("1.IO预检查")]
        [Description("IO预检查定义集合")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(IORefrenceItemCollectionEditor), typeof(UITypeEditor))]
        public List<IORefrenceItem> PreCheckIOCollection { get; set; } = new List<IORefrenceItem>();

        [Category("IO操作配置")]
        [Category("1.IO操作配置")]
        [Description("超时设置，单位：ms")]
        [DisplayName("IO预检查超时")]
        [DisplayName("2.IO预检查超时")]
        public int PreCheckIOTimeout { get; set; } = 0;

        [Category("IO操作配置")]
        [DisplayName("IO输出定义集合")]
        [Category("1.IO操作配置")]
        [DisplayName("3.IO输出")]
        [Description("IO输出定义集合")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(IORefrenceItemCollectionEditor), typeof(UITypeEditor))]
        public List<IORefrenceItem> IOOutputCollection { get; set; } = new List<IORefrenceItem>();

        [Category("IO操作配置")]
        [DisplayName("IO确认定义集合")]
        [Category("1.IO操作配置")]
        [DisplayName("4.IO输出确认")]
        [Description("IO确认定义集合")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(IORefrenceItemCollectionEditor), typeof(UITypeEditor))]
        public List<IORefrenceItem> IOConfirmCollection { get; set; } = new List<IORefrenceItem>();
        [Category("IO操作配置")]

        [Category("1.IO操作配置")]
        [Description("超时设置，单位：ms")]
        [DisplayName("IO确认超时")]
        [DisplayName("5.IO输出确认超时")]
        public int IOConfirmTimeout { get; set; } = 0;

        [Category("板卡运动配置")]
        [Category("2.板卡运动配置")]
        [DisplayName("运动配置集合")]
        [Description("MovingOps：运动配置集合")]
        [TypeConverter(typeof(CollectionCountConvert))]
        [Editor(typeof(MovingOpsCollectionEditor), typeof(UITypeEditor))]
        public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();

        [Category("3.运动延时")]
        [Description("操作前延时，单位ms")]
        public int DelayBefore { get; set; } = 0;

        [Category("3.运动延时")]
        [Description("操作后延时，单位ms")]
        public int DelayAfter { get; set; } = 0;

        public string MotionCardId = "";

@@ -378,13 +424,13 @@
            if (itemType == typeof(IORefrenceItem))
            {
                IORefrenceItem item = new IORefrenceItem();
                if ((this.Context.Instance is IOperationConfig opConfig) && !string.IsNullOrWhiteSpace(opConfig.DeviceId))
                if (this.Context.Instance is MotionCardOperationSet set)
                {
                    using (var scope = GlobalVar.Container.BeginLifetimeScope())
                    {
                        List<IDevice> deviceList = scope.Resolve<List<IDevice>>();

                        var device = deviceList.FirstOrDefault(u => u.Id == opConfig.DeviceId);
                        var device = deviceList.FirstOrDefault(u => u.Id == set.MotionCardId);

                        if (device != null && (device is MotionCardBase motionCard))
                        {
@@ -411,9 +457,9 @@

        public override object EditValue(ITypeDescriptorContext context, IServiceProvider provider, object value)
        {
            if (context.Instance is IOperationConfig opConfig)
            if (context.Instance is MotionCardOperationSet set)
            {
                if (string.IsNullOrWhiteSpace(opConfig.DeviceId))
                if (string.IsNullOrWhiteSpace(set.MotionCardId))
                {
                    return base.EditValue(context, provider, value);
                }
@@ -422,7 +468,7 @@
                {
                    List<IDevice> deviceList = scope.Resolve<List<IDevice>>();

                    var device = deviceList.FirstOrDefault(u => u.Id == opConfig.DeviceId);
                    var device = deviceList.FirstOrDefault(u => u.Id == set.MotionCardId);

                    if (device == null)
                    {