gocator修改异步模式下图片获取操作

patrick.xu

2021-02-20 78289c64a16dd02cc9fec595bf758a9e30a30926

 src/Bro.M071.Process/M071Process_MotionCard.cs

@@ -7,6 +7,7 @@
using System.ComponentModel;
using System.Drawing.Design;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
@@ -16,107 +17,313 @@
{
    public partial class M071Process
    {
        Timer _resetTimer = null;
        const int FULLRESETTIME = 5;
        public Timer ResetTimer = null;

        object machineStateLock = new object();
        //MachineState _machineStatePre = MachineState.Unknown;
        MachineState machineState = MachineState.Unknown;
        MachineState MachineState
        public MachineState MachineState
        {
            get => machineState;
            set
            {
                if (machineState == value)
                    return;

                LogAsync(DateTime.Now, $"设备状态切换:{machineState.ToString()}->{value.ToString()}", "");
                machineState = value;

                switch (machineState)
                Task.Run(() =>
                {
                    case MachineState.Ready:
                        break;
                    case MachineState.Running:
                        break;
                    case MachineState.Alarm:
                        break;
                    case MachineState.Pause:
                        break;
                    default:
                        break;
                    OnMachineStateChanged?.Invoke(machineState);

                    switch (machineState)
                    {
                        case MachineState.Ready:
                            lock (machineStateLock)
                            {
                                SwitchBeep(false);
                                SwitchLightRed(false);
                                SwitchLightYellow(false);
                            }

                            Task.Run(() =>
                            {
                                while (MachineState == MachineState.Ready)
                                {
                                    lock (machineStateLock)
                                    {
                                        SwitchLightGreen(true);
                                        Thread.Sleep(1000);
                                        SwitchLightGreen(false);
                                        Thread.Sleep(1000);
                                    }
                                }
                            });

                            break;
                        case MachineState.Running:
                            lock (machineStateLock)
                            {
                                SwitchBeep(false);
                                SwitchLightRed(false);
                                SwitchLightYellow(false);
                                SwitchLightGreen(true);
                            }
                            break;
                        case MachineState.Alarm:
                            lock (machineStateLock)
                            {
                                SwitchBeep(true);
                                SwitchLightRed(true);
                                SwitchLightYellow(false);
                                SwitchLightGreen(false);
                            }
                            break;
                        case MachineState.Pause:
                            lock (machineStateLock)
                            {
                                SwitchBeep(false);
                                SwitchLightRed(false);
                            }
                            Task.Run(() =>
                            {
                                while (MachineState == MachineState.Pause)
                                {
                                    lock (machineStateLock)
                                    {
                                        SwitchLightYellow(true);
                                        SwitchLightGreen(true);
                                        Thread.Sleep(1000);
                                        SwitchLightYellow(false);
                                        SwitchLightGreen(false);
                                        Thread.Sleep(1000);
                                    }
                                }
                            });
                            break;
                        case MachineState.Resetting:
                            lock (machineStateLock)
                            {
                                SwitchBeep(false);
                                SwitchLightRed(false);
                                SwitchLightGreen(false);
                            }
                            Task.Run(() =>
                            {
                                while (MachineState == MachineState.Resetting)
                                {
                                    lock (machineStateLock)
                                    {
                                        SwitchLightYellow(true);
                                        Thread.Sleep(1000);
                                        SwitchLightYellow(false);
                                        Thread.Sleep(1000);
                                    }
                                }
                            });
                            break;
                        default:
                            break;
                    }
                });                
            }
        }

        private void Pause()
        {
            #region 板卡暂停动作
            outputCtrlCard.SetImmediatePause();
            #endregion

            //_pauseHandle.WaitHandle.Reset();
            //_pauseHandle.WaitResult = true;
        }

        private void Resume(bool isResumeContinueMoving)
        {
            #region 板卡恢复动作
            outputCtrlCard.ResetImmediatePause(isResumeContinueMoving);
            #endregion

            //_pauseHandle.WaitHandle.Set();
            //_pauseHandle.WaitResult = false;
        }

        private void MotionCardSettingCheck()
        {
            IDevice device = DeviceCollection.FirstOrDefault(u => u is IMotionCard);
            if (device?.InitialConfig is MotionCardInitialConfigBase iConfig)
            {
                outputCtrlCard = device as MotionCardBase;

                var redDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light_Red);
                if (redDefinition != null)
                {
                    index_RedLight = redDefinition.IONum;
                }
                else
                {
                    LogAsync(DateTime.Now, $"{iConfig.Name}未配置红色灯输出索引", "");
                }

                var greenDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light_Green);
                if (greenDefinition != null)
                {
                    index_GreenLight = greenDefinition.IONum;
                }
                else
                {
                    LogAsync(DateTime.Now, $"{iConfig.Name}未配置绿色灯输出索引", "");
                }

                var yellowDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light_Yellow);
                if (yellowDefinition != null)
                {
                    index_YellowLight = yellowDefinition.IONum;
                }
                else
                {
                    LogAsync(DateTime.Now, $"{iConfig.Name}未配置黄色灯输出索引", "");
                }

                var beepDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Beep);
                if (beepDefinition != null)
                {
                    index_Beep = beepDefinition.IONum;
                }
                else
                {
                    LogAsync(DateTime.Now, $"{iConfig.Name}未配置蜂鸣器输出索引", "");
                }

                var lightDefinition = iConfig.IODefinitionCollection.FirstOrDefault(u => u.IOPreStatement == IOPrestatement.Light);
                if (lightDefinition != null)
                {
                    index_NormalLight = lightDefinition.IONum;
                }
                else
                {
                    LogAsync(DateTime.Now, $"{iConfig.Name}未配置日光灯输出索引", "");
                }
            }
            else
            {
                LogAsync(DateTime.Now, "未配置板卡设备", "");
            }
        }

        [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)
        {
            //if (opConfig == null)
            //{
            //    var monitorSet = Config.MonitorSetCollection.FirstOrDefault(u => u.MethodCode == "Reset");
            //    if (monitorSet == null)
            //        throw new ProcessException("未配置默认复位操作");

            //    opConfig = monitorSet.OpConfig;
            //    if (opConfig == null)
            //        throw new ProcessException("未配置复位操作具体配置动作");

            //    if (invokeDevice == null)
            //    {
            //        invokeDevice = DeviceCollection.FirstOrDefault(u => u.Id == monitorSet.InvokeDevice);
            //        if (invokeDevice == null)
            //            throw new ProcessException("未配置复位操作执行设备");
            //    }
            //}

            MotionCardDefaultRun("Reset", ref opConfig, ref invokeDevice);

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

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

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

            //if (invokeDevice is MotionCardBase motionCard)
            if (!IsAllowedWork)
            {
                LogAsync(DateTime.Now, $"{SafetyMsg}，复位失败", "");
                return new ProcessResponse(false);
            }

            MotionCardDefaultRun("Reset", ref opConfig, ref invokeDevice);
            (invokeDevice as MotionCardBase).ResetAlarm();

            _isdoing = false;
            _pausedHandle.Set();

            RaisedAlarm("");
            OnCheckHintUpload?.Invoke("", false);

            //if (MachineState != MachineState.Pause)
            //{
            //    motionCard.Run(opConfig);
            MachineState = MachineState.Ready;
            //}
            //else
            //{
            //    LogAsync(DateTime.Now, "设备暂停中，无法复位", "");
            //    return new ProcessResponse(true);
            //}

            if (IsEmergencyStopped)
            {
                RaisedAlarm("急停按钮未恢复，请执行大复位");
                MachineState = MachineState.Alarm;
                return new ProcessResponse(true);
            }

            LogAsync(DateTime.Now, "普通复位动作完成", "");
            OnResetDone?.Invoke();

            return new ProcessResponse(true);
        }

        private void FullReset(object state)
        {
            FullReset(null, null, null);
            try
            {
                FullReset(null, null, null);
            }
            catch (Exception ex)
            {
                ExceptionRaisedInMonitor(ex);
            }
        }

        [ProcessMethod("MotionCardOperationConfigCollection", "FullReset", "大复位操作", InvokeType.TestInvoke)]
        //[ProcessMethod("MotionCardOperationConfigCollection", "FullReset", "大复位操作", InvokeType.TestInvoke)]
        [ProcessMethod("MotionCardBase", "FullReset", "大复位操作", InvokeType.TestInvoke)]
        public ProcessResponse FullReset(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            //if (opConfig == null)
            //{
            //    var monitorSet = Config.MonitorSetCollection.FirstOrDefault(u => u.MethodCode == "FullReset");
            //    if (monitorSet == null)
            //        throw new ProcessException("未配置默认大复位操作");
            if (!IsAllowedWork)
            {
                LogAsync(DateTime.Now, $"{SafetyMsg}，大复位失败", "");
                return new ProcessResponse(false);
            }

            //    opConfig = monitorSet.OpConfig;
            //    if (opConfig == null)
            //        throw new ProcessException("未配置大复位操作具体配置动作");
            if (MachineState == MachineState.Pause)
            {
                Resume(false);
            }

            //    if (invokeDevice == null)
            //    {
            //        invokeDevice = DeviceCollection.FirstOrDefault(u => u.Id == monitorSet.InvokeDevice);
            //        if (invokeDevice == null)
            //            throw new ProcessException("未配置大复位操作执行设备");
            //    }
            //}

            //if (invokeDevice is MotionCardBase motionCard)
            //{
            //    motionCard.Run(opConfig);
            //}

            MachineState = MachineState.Resetting;
            MotionCardDefaultRun("FullReset", ref opConfig, ref invokeDevice);

            lock (productionLock)
            {
                productionList.ForEach(u => u.Dispose());
                productionList.Clear();
            }

            OnFullResetDone?.Invoke();

            isFullResetCovered = true;

            LogAsync(DateTime.Now, "大复位动作完成", "");

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

            GotoReadyPosition(null, null, null);

            return new ProcessResponse(true);
        }
@@ -126,71 +333,252 @@
        /// WaitHandle 暂停句柄  默认为非阻塞 可执行
        /// WaitResult 暂停标志 true 正常执行  false 暂停中
        /// </summary>
        ManualWaitConfirm _pauseHandle = new ManualWaitConfirm()
        {
            WaitHandle = new ManualResetEvent(true),
            WaitResult = true,
        };
        //ManualWaitConfirm _pauseHandle = new ManualWaitConfirm()
        //{
        //    WaitHandle = new ManualResetEvent(true),
        //    WaitResult = true,
        //};

        [ProcessMethod("", "PauseJob", "暂停流程", InvokeType.TestInvoke)]
        public ProcessResponse PauseJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        List<MachineState> _statesAllowPause = new List<MachineState>() { MachineState.Running, MachineState.Ready, MachineState.Pause };
        [ProcessMethod("", "SwitchJobStatus", "流程状态切换", InvokeType.TestInvoke)]
        public ProcessResponse SwitchJobStatus(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        {
            if (_pauseHandle.WaitResult)
            if (!_statesAllowPause.Contains(MachineState))
                return new ProcessResponse(-999);

            MotionCardBase motionDevice = sourceDevice as MotionCardBase;
            if (motionDevice == null)
            {
                #region 板卡暂停动作
                #endregion
                motionDevice = DeviceCollection.FirstOrDefault(u => u is MotionCardBase) as MotionCardBase;
            }

                _pauseHandle.WaitHandle.Reset();
            if (motionDevice == null)
                throw new ProcessException("未获取板卡设备");

            bool? isToPause = null; //true 暂停 false 继续

            if (opConfig.InputPara[0] == 10)
            {
                isToPause = false;
            }
            else if (opConfig.InputPara[0] == 11)
            {
                isToPause = true;
            }

            if (isToPause == null)
            {
                IsManualPaused = !IsManualPaused;
            }
            else
            {
                #region 板卡恢复动作
                #endregion
                //if (isToPause.Value)
                //{
                //    if (!_pauseHandle.WaitResult)
                //    {
                //        //#region 板卡暂停动作
                //        //motionDevice.SetImmediatePause();
                //        //#endregion

                _pauseHandle.WaitHandle.Set();
                //        //_pauseHandle.WaitHandle.Reset();
                //        //_pauseHandle.WaitResult = true;
                //        MachineState = MachineState.Pause;
                //    }
                //}
                //else
                //{
                //    if (!_pauseHandle.WaitResult)
                //    {
                //        //#region 板卡恢复动作
                //        //motionDevice.ResetImmediatePause();
                //        //#endregion

                //        //_pauseHandle.WaitHandle.Set();
                //        //_pauseHandle.WaitResult = false;
                //        MachineState = _machineStatePre;
                //    }
                //}

                IsManualPaused = isToPause.Value;
            }

            _pauseHandle.WaitResult = !_pauseHandle.WaitResult;
            return new ProcessResponse(_pauseHandle.WaitResult);
            return new ProcessResponse(IsManualPaused);
        }

        [ProcessMethod("MotionCardBase", "SwitchLightRed", "切换指示灯-红", InvokeType.TestInvoke)]
        public ProcessResponse SwitchLightRed(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        ////[ProcessMethod("", "PauseJob", "暂停流程", InvokeType.TestInvoke)]
        //public ProcessResponse PauseJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    if (!_pauseHandle.WaitResult)
        //    {
        //        #region 板卡暂停动作
        //        #endregion

        //        _pauseHandle.WaitHandle.Reset();
        //    }

        //    _pauseHandle.WaitResult = !_pauseHandle.WaitResult;
        //    return new ProcessResponse(_pauseHandle.WaitResult);
        //}

        ////[ProcessMethod("", "ResumeJob", "继续流程", InvokeType.TestInvoke)]
        //public ProcessResponse ResumeJob(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    if (_pauseHandle.WaitResult)
        //    {
        //        #region 板卡恢复动作
        //        #endregion

        //        _pauseHandle.WaitHandle.Set();
        //    }

        //    _pauseHandle.WaitResult = !_pauseHandle.WaitResult;
        //    return new ProcessResponse(_pauseHandle.WaitResult);
        //}

        #region 三色灯 & 蜂鸣器
        //[ProcessMethod("MotionCardBase", "SwitchLightRed", "切换指示灯-红", InvokeType.TestInvoke)]
        //public ProcessResponse SwitchLightRed(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    MotionCardDefaultRun("SwitchLightRed", ref opConfig, ref invokeDevice);
        //    return new ProcessResponse(true);
        //}

        //[ProcessMethod("MotionCardBase", "SwitchLightYellow", "切换指示灯-黄", InvokeType.TestInvoke)]
        //public ProcessResponse SwitchLightYellow(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    return new ProcessResponse(true);
        //}

        //[ProcessMethod("MotionCardBase", "SwitchLightGreen", "切换指示灯-绿", InvokeType.TestInvoke)]
        //public ProcessResponse SwitchLightGreen(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    return new ProcessResponse(true);
        //}

        //[ProcessMethod("MotionCardBase", "SwitchBeep", "切换蜂鸣器", InvokeType.TestInvoke)]
        //public ProcessResponse SwitchBeep(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    return new ProcessResponse(true);
        //}

        //[ProcessMethod("MotionCardBase", "SwitchNormalLight", "切换日光灯", InvokeType.TestInvoke)]
        //public ProcessResponse SwitchNormalLight(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        //{
        //    MotionCardDefaultRun("SwitchNormalLight", ref opConfig, ref invokeDevice);

        //    return new ProcessResponse(true);
        //}

        int index_RedLight = -1;
        int index_GreenLight = -1;
        int index_YellowLight = -1;
        int index_Beep = -1;
        int index_NormalLight = -1;
        MotionCardBase outputCtrlCard = null;

        public void SwitchLightRed(bool isOn)
        {
            MotionCardDefaultRun("SwitchLightRed", ref opConfig, ref invokeDevice);
            return new ProcessResponse(true);
            if (index_RedLight >= 0)
            {
                if (outputCtrlCard != null)
                {
                    outputCtrlCard.WriteOutput((short)index_RedLight, isOn ? IOValue.TRUE : IOValue.FALSE);
                }
                else
                {
                    LogAsync(DateTime.Now, "未设置板卡输出设备", "");
                }
            }
            else
            {
                LogAsync(DateTime.Now, "红色灯未配置正确输出索引", "");
            }
        }

        [ProcessMethod("MotionCardBase", "SwitchLightYellow", "切换指示灯-黄", InvokeType.TestInvoke)]
        public ProcessResponse SwitchLightYellow(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        public void SwitchLightYellow(bool isOn)
        {
            return new ProcessResponse(true);
            if (index_YellowLight >= 0)
            {
                if (outputCtrlCard != null)
                {
                    outputCtrlCard.WriteOutput((short)index_YellowLight, isOn ? IOValue.TRUE : IOValue.FALSE);
                }
                else
                {
                    LogAsync(DateTime.Now, "未设置板卡输出设备", "");
                }
            }
            else
            {
                LogAsync(DateTime.Now, "黄色灯未配置正确输出索引", "");
            }
        }

        [ProcessMethod("MotionCardBase", "SwitchLightGreen", "切换指示灯-绿", InvokeType.TestInvoke)]
        public ProcessResponse SwitchLightGreen(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        public void SwitchLightGreen(bool isOn)
        {
            return new ProcessResponse(true);
            if (index_GreenLight >= 0)
            {
                if (outputCtrlCard != null)
                {
                    outputCtrlCard.WriteOutput((short)index_GreenLight, isOn ? IOValue.TRUE : IOValue.FALSE);
                }
                else
                {
                    LogAsync(DateTime.Now, "未设置板卡输出设备", "");
                }
            }
            else
            {
                LogAsync(DateTime.Now, "绿色灯未配置正确输出索引", "");
            }
        }

        [ProcessMethod("MotionCardBase", "SwitchBeep", "切换蜂鸣器", InvokeType.TestInvoke)]
        public ProcessResponse SwitchBeep(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        public void SwitchLight(bool isOn)
        {
            return new ProcessResponse(true);
            if (index_NormalLight >= 0)
            {
                if (outputCtrlCard != null)
                {
                    outputCtrlCard.WriteOutput((short)index_NormalLight, isOn ? IOValue.TRUE : IOValue.FALSE);
                }
                else
                {
                    LogAsync(DateTime.Now, "未设置板卡输出设备", "");
                }
            }
            else
            {
                LogAsync(DateTime.Now, "照明灯未配置正确输出索引", "");
            }
        }

        [ProcessMethod("MotionCardBase", "SwitchNormalLight", "切换日光灯", InvokeType.TestInvoke)]
        public ProcessResponse SwitchNormalLight(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
        public void SwitchBeep(bool isOn)
        {
            MotionCardDefaultRun("SwitchNormalLight", ref opConfig, ref invokeDevice);
            if (Config.IsBeepBlocked)
                return;

            return new ProcessResponse(true);
            if (index_Beep >= 0)
            {
                if (outputCtrlCard != null)
                {
                    outputCtrlCard.WriteOutput((short)index_Beep, isOn ? IOValue.TRUE : IOValue.FALSE);
                }
                else
                {
                    LogAsync(DateTime.Now, "未设置板卡输出设备", "");
                }
            }
            else
            {
                LogAsync(DateTime.Now, "蜂鸣器未配置正确输出索引", "");
            }
        }
        #endregion

        private void MotionCardDefaultRun(string methodCode, ref IOperationConfig opConfig, ref IDevice invokeDevice)
        {
            IMonitorSet monitorSet = null;
            if (opConfig == null)
            if (opConfig == null || !(opConfig is MotionCardOperationConfigBase))
            {
                monitorSet = Config.MonitorSetCollection.FirstOrDefault(u => u.MethodCode == methodCode);
                if (monitorSet == null)
@@ -210,8 +598,178 @@

            if (invokeDevice is MotionCardBase motionCard)
            {
                motionCard.Run(opConfig);
                var response = motionCard.Run(opConfig);
                if (!response.Result)
                {
                    throw new ProcessException($"{motionCard.Name}异常，{response.Message}", null, ExceptionLevel.Fatal);
                }
            }
        }

        bool IsAllowedWork
        {
            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;
        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
    }
}