debug

wells

2020-07-12 5bf1b91009a182188d6d2245aa71653801eea60b

 src/Bro.M071.Process/M071Process_MotionCard.cs

@@ -26,6 +26,9 @@
            get => machineState;
            set
            {
                if (machineState == value)
                    return;

                machineState = value;

                switch (machineState)
@@ -40,9 +43,10 @@

                        Task.Run(() =>
                        {
                            lock (machineStateLock)
                            {

                                while (MachineState == MachineState.Ready)
                            {
                                lock (machineStateLock)
                                {
                                    SwitchLightGreen(true);
                                    Thread.Sleep(1000);
@@ -79,9 +83,9 @@
                        }
                        Task.Run(() =>
                        {
                            lock (machineStateLock)
                            {
                                while (MachineState == MachineState.Pause)
                            {
                                lock (machineStateLock)
                                {
                                    SwitchLightYellow(true);
                                    SwitchLightGreen(true);
@@ -102,10 +106,11 @@
                        }
                        Task.Run(() =>
                        {
                            lock (machineStateLock)
                            {
                                while (MachineState == MachineState.Resetting)
                                {
                                lock (machineStateLock)
                                {

                                    SwitchLightYellow(true);
                                    Thread.Sleep(1000);
                                    SwitchLightYellow(false);
@@ -185,6 +190,16 @@
            }
        }

        [ProcessMethod("MotionCardBase", "GotoReadyPosition", "运动到预备位置", InvokeType.TestInvoke)]
        public ProcessResponse GotoReadyPosition(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            MotionCardDefaultRun("GotoReadyPosition", ref opConfig, ref invokeDevice);

            LogAsync(DateTime.Now, "运动到预备位置完成", "");

            return new ProcessResponse(true);
        }

        [ProcessMethod("MotionCardBase", "Reset", "简单复位操作", InvokeType.TestInvoke)]
        public ProcessResponse Reset(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
@@ -206,9 +221,23 @@
            //    }
            //}

            if (ResetTimer == null)
            {
                ResetTimer = new Timer(FullReset, null, -1, -1);
            }

            if (opConfig?.InputPara != null && opConfig.InputPara.Count > 0)
            {
                //大复位信号
                ResetTimer.Change(opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1, -1);

                if (opConfig.InputPara[0] == 0)
                    return new ProcessResponse(true);
            }

            if (!IsAllowedWork)
            {
                LogAsync(DateTime.Now, $"{(IsSafetyDoorTrigged ? "安全门" : "")}{(IsSafetyBeamTrigged ? " 安全光线" : "")}{(isEmergencyStopped ? " 急停按钮" : "")}触发中，复位失败", "");
                LogAsync(DateTime.Now, $"{SafetyMsg}，复位失败", "");
                return new ProcessResponse(false);
            }

@@ -224,16 +253,13 @@
                MachineState = MachineState.Alarm;
            }

            if (ResetTimer == null)
            {
                ResetTimer = new Timer(FullReset, null, -1, -1);
            }

            if (opConfig.InputPara.Count > 0)
            {
                //大复位信号
                ResetTimer.Change(-1, opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1);
            }

            //if (opConfig.InputPara?.Count > 0)
            //{
            //    //大复位信号
            //    ResetTimer.Change(-1, opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1);
            //}

            //if (invokeDevice is MotionCardBase motionCard)
            //{
@@ -298,6 +324,8 @@

            RaisedAlarm("");
            MachineState = MachineState.Ready;

            GotoReadyPosition(null, null, null);

            return new ProcessResponse(true);
        }
@@ -597,6 +625,10 @@
        {
            get => !(IsSafetyBeamTrigged || IsSafetyDoorTrigged || IsEmergencyStopped);
        }
        string SafetyMsg
        {
            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;
@@ -633,6 +665,9 @@
        [ProcessMethod("", "SafetyBeamSignal", "安全光幕信号监控，正常ON，OFF时报警", InvokeType.TestInvoke)]
        public ProcessResponse SafetyBeamSignal(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (MachineState != MachineState.Running || MachineState != MachineState.Alarm)
                return new ProcessResponse(true);

            if (opConfig.InputPara == null || opConfig.InputPara.Count == 0)
                throw new ProcessException("安全光幕监控未配置输入信号");

@@ -674,7 +709,7 @@
            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] == 1;
            IsEmergencyStopped = opConfig.InputPara[0] == 0;

            if (IsEmergencyStopped)
            {