Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071

wells.liu

2020-07-16 81480d62561dcb75a1fc968814ace1368fe5181b

 src/Bro.M071.Process/M071Process_MotionCard.cs

@@ -20,6 +20,7 @@
        const int FULLRESETTIME = 5;

        object machineStateLock = new object();
        //MachineState _machineStatePre = MachineState.Unknown;
        MachineState machineState = MachineState.Unknown;
        public MachineState MachineState
        {
@@ -31,100 +32,121 @@

                machineState = value;

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

                        Task.Run(() =>
                        {

                            while (MachineState == MachineState.Ready)
                    switch (machineState)
                    {
                        case MachineState.Ready:
                            lock (machineStateLock)
                            {
                                lock (machineStateLock)
                                {
                                    SwitchLightGreen(true);
                                    Thread.Sleep(1000);
                                    SwitchLightGreen(false);
                                    Thread.Sleep(1000);
                                }
                                SwitchBeep(false);
                                SwitchLightRed(false);
                                SwitchLightYellow(false);
                            }
                        });

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

                OnMachineStateChanged?.Invoke(machineState);
            }
        }

        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()
@@ -203,24 +225,6 @@
        [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");
            //    }
            //}

            if (ResetTimer == null)
            {
                ResetTimer = new Timer(FullReset, null, -1, -1);
@@ -245,26 +249,23 @@
            (invokeDevice as MotionCardBase).ResetAlarm();

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

            if (MachineState != MachineState.Pause)
            {
                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);
            }



            //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)
            //{
            //    motionCard.Run(opConfig);
            //}

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

@@ -287,28 +288,16 @@
        [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 (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);
            //}
            if (MachineState == MachineState.Pause)
            {
                Resume(false);
            }

            MachineState = MachineState.Resetting;
            MotionCardDefaultRun("FullReset", ref opConfig, ref invokeDevice);
@@ -335,12 +324,12 @@
        /// 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,
        };
        MachineState _machineStateBeforePause = MachineState.Unknown;
        //ManualWaitConfirm _pauseHandle = new ManualWaitConfirm()
        //{
        //    WaitHandle = new ManualResetEvent(true),
        //    WaitResult = true,
        //};

        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)
@@ -358,10 +347,7 @@
                throw new ProcessException("未获取板卡设备");

            bool? isToPause = null; //true 暂停 false 继续
            //if (opConfig.InputPara != null && opConfig.InputPara.Count > 0)
            //{
            //    isToPause = opConfig.InputPara[0] == 1;
            //}

            if (opConfig.InputPara[0] == 10)
            {
                isToPause = false;
@@ -373,59 +359,41 @@

            if (isToPause == null)
            {
                if (!_pauseHandle.WaitResult)
                {
                    #region 板卡暂停动作
                    motionDevice.SetImmediatePause();
                    #endregion

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

                    _pauseHandle.WaitHandle.Set();
                    _pauseHandle.WaitResult = false;
                    MachineState = _machineStateBeforePause;
                }
                IsManualPaused = !IsManualPaused;
            }
            else
            {
                if (isToPause.Value)
                {
                    if (!_pauseHandle.WaitResult)
                    {
                        #region 板卡暂停动作
                        motionDevice.SetImmediatePause();
                        #endregion
                //if (isToPause.Value)
                //{
                //    if (!_pauseHandle.WaitResult)
                //    {
                //        //#region 板卡暂停动作
                //        //motionDevice.SetImmediatePause();
                //        //#endregion

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

                IsManualPaused = isToPause.Value;
            }

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

        ////[ProcessMethod("", "PauseJob", "暂停流程", InvokeType.TestInvoke)]
@@ -633,6 +601,7 @@
        {
            get => !(IsSafetyBeamTrigged || IsSafetyDoorTrigged || IsEmergencyStopped);
        }

        string SafetyMsg
        {
            get => $"{(IsSafetyBeamTrigged ? "安全光幕" : "")}{(IsSafetyDoorTrigged ? " 安全门" : "")}{(IsEmergencyStopped ? " 急停按钮" : "")}触发中";
@@ -641,21 +610,85 @@
        #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;
            get => (!Config.IsSafetyDoorBlocked) && isSafetyDoorTrigged;
            set
            {
                isSafetyDoorTrigged = value;
                CheckMachinePauseState();
            }
        }
        public bool IsSafetyBeamTrigged
        {
            get => !Config.IsSafetyBeamBlocked && isSafetyBeamTrigged;
            set => isSafetyBeamTrigged = value;
            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;
        private void CheckMachinePauseState()
        {
            //await Task.Run(() =>
            {
                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)
                        {
                            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)]
        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");

@@ -664,7 +697,6 @@
            if (IsSafetyDoorTrigged)
            {
                RaisedAlarm("安全门未正常关闭");
                MachineState = MachineState.Alarm;
            }

            return new ProcessResponse(true);
@@ -673,9 +705,6 @@
        [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");

@@ -684,7 +713,6 @@
            if (IsSafetyBeamTrigged)
            {
                RaisedAlarm("安全光线被遮挡");
                MachineState = MachineState.Alarm;
            }

            return new ProcessResponse(true);
@@ -719,7 +747,7 @@

            IsEmergencyStopped = opConfig.InputPara[0] == 0;

            if (IsEmergencyStopped)
            if (isEmergencyStopped)
            {
                RaisedAlarm("急停按钮被拍下");
                MachineState = MachineState.Alarm;