From 0d10528b430721512e0e93e0d455fcec44207ec9 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期二, 14 七月 2020 18:27:10 +0800
Subject: [PATCH] 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
---
src/Bro.M071.Process/M071Process_MotionCard.cs | 271 ++++++++++++++++++++++++++++++-----------------------
1 files changed, 154 insertions(+), 117 deletions(-)
diff --git a/src/Bro.M071.Process/M071Process_MotionCard.cs b/src/Bro.M071.Process/M071Process_MotionCard.cs
index 2821708..fbc4314 100644
--- a/src/Bro.M071.Process/M071Process_MotionCard.cs
+++ b/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
{
@@ -28,6 +29,8 @@
{
if (machineState == value)
return;
+
+ //_machineStatePre = machineState;
machineState = value;
@@ -124,7 +127,36 @@
}
OnMachineStateChanged?.Invoke(machineState);
+
+ //if (_machineStatePre == MachineState.Running && machineState == MachineState.Pause)
+ //{
+ // Pause();
+ //}
+ //else if (_machineStatePre == MachineState.Pause && (machineState == MachineState.Running || machineState == MachineState.Ready))
+ //{
+ // Resume();
+ //}
}
+ }
+
+ private void Pause()
+ {
+ #region 鏉垮崱鏆傚仠鍔ㄤ綔
+ outputCtrlCard.SetImmediatePause();
+ #endregion
+
+ //_pauseHandle.WaitHandle.Reset();
+ //_pauseHandle.WaitResult = true;
+ }
+
+ private void Resume(bool isResumeContinueMoving)
+ {
+ #region 鏉垮崱鎭㈠鍔ㄤ綔
+ outputCtrlCard.ResetImmediatePause(isResumeContinueMoving);
+ #endregion
+
+ //_pauseHandle.WaitHandle.Set();
+ //_pauseHandle.WaitResult = false;
}
private void MotionCardSettingCheck()
@@ -203,24 +235,6 @@
[ProcessMethod("MotionCardBase", "Reset", "绠�鍗曞浣嶆搷浣�", 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("鏈厤缃粯璁ゅ浣嶆搷浣�");
-
- // opConfig = monitorSet.OpConfig;
- // if (opConfig == null)
- // throw new ProcessException("鏈厤缃浣嶆搷浣滃叿浣撻厤缃姩浣�");
-
- // if (invokeDevice == null)
- // {
- // invokeDevice = DeviceCollection.FirstOrDefault(u => u.Id == monitorSet.InvokeDevice);
- // if (invokeDevice == null)
- // throw new ProcessException("鏈厤缃浣嶆搷浣滄墽琛岃澶�");
- // }
- //}
-
if (ResetTimer == null)
{
ResetTimer = new Timer(FullReset, null, -1, -1);
@@ -245,26 +259,23 @@
(invokeDevice as MotionCardBase).ResetAlarm();
RaisedAlarm("");
- MachineState = MachineState.Ready;
+
+ if (MachineState != MachineState.Pause)
+ {
+ MachineState = MachineState.Ready;
+ }
+ else
+ {
+ LogAsync(DateTime.Now, "璁惧鏆傚仠涓紝鏃犳硶澶嶄綅", "");
+ return new ProcessResponse(true);
+ }
if (IsEmergencyStopped)
{
RaisedAlarm("鎬ュ仠鎸夐挳鏈仮澶嶏紝璇锋墽琛屽ぇ澶嶄綅");
MachineState = MachineState.Alarm;
+ return new ProcessResponse(true);
}
-
-
-
- //if (opConfig.InputPara?.Count > 0)
- //{
- // //澶у浣嶄俊鍙�
- // ResetTimer.Change(-1, opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1);
- //}
-
- //if (invokeDevice is MotionCardBase motionCard)
- //{
- // motionCard.Run(opConfig);
- //}
LogAsync(DateTime.Now, "鏅�氬浣嶅姩浣滃畬鎴�", "");
@@ -287,28 +298,16 @@
[ProcessMethod("MotionCardBase", "FullReset", "澶у浣嶆搷浣�", 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("鏈厤缃粯璁ゅぇ澶嶄綅鎿嶄綔");
+ if (!IsAllowedWork)
+ {
+ LogAsync(DateTime.Now, $"{SafetyMsg}锛屽ぇ澶嶄綅澶辫触", "");
+ return new ProcessResponse(false);
+ }
- // opConfig = monitorSet.OpConfig;
- // if (opConfig == null)
- // throw new ProcessException("鏈厤缃ぇ澶嶄綅鎿嶄綔鍏蜂綋閰嶇疆鍔ㄤ綔");
-
- // if (invokeDevice == null)
- // {
- // invokeDevice = DeviceCollection.FirstOrDefault(u => u.Id == monitorSet.InvokeDevice);
- // if (invokeDevice == null)
- // throw new ProcessException("鏈厤缃ぇ澶嶄綅鎿嶄綔鎵ц璁惧");
- // }
- //}
-
- //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 +334,12 @@
/// WaitHandle 鏆傚仠鍙ユ焺 榛樿涓洪潪闃诲 鍙墽琛�
/// WaitResult 鏆傚仠鏍囧織 true 姝ｅ父鎵ц false 鏆傚仠涓�
/// </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", "娴佺▼鐘舵�佸垏鎹�", InvokeType.TestInvoke)]
public ProcessResponse SwitchJobStatus(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
@@ -358,10 +357,7 @@
throw new ProcessException("鏈幏鍙栨澘鍗¤澶�");
bool? isToPause = null; //true 鏆傚仠 false 缁х画
- //if (opConfig.InputPara != null && opConfig.InputPara.Count > 0)
- //{
- // isToPause = opConfig.InputPara[0] == 1;
- //}
+
if (opConfig.InputPara[0] == 10)
{
isToPause = false;
@@ -373,59 +369,41 @@
if (isToPause == null)
{
- if (!_pauseHandle.WaitResult)
- {
- #region 鏉垮崱鏆傚仠鍔ㄤ綔
- motionDevice.SetImmediatePause();
- #endregion
-
- _pauseHandle.WaitHandle.Reset();
- _pauseHandle.WaitResult = true;
- _machineStateBeforePause = MachineState;
- MachineState = MachineState.Pause;
- }
- else if (!_pauseHandle.WaitResult)
- {
- #region 鏉垮崱鎭㈠鍔ㄤ綔
- motionDevice.ResetImmediatePause();
- #endregion
-
- _pauseHandle.WaitHandle.Set();
- _pauseHandle.WaitResult = false;
- MachineState = _machineStateBeforePause;
- }
+ IsManualPaused = !IsManualPaused;
}
else
{
- if (isToPause.Value)
- {
- if (!_pauseHandle.WaitResult)
- {
- #region 鏉垮崱鏆傚仠鍔ㄤ綔
- motionDevice.SetImmediatePause();
- #endregion
+ //if (isToPause.Value)
+ //{
+ // if (!_pauseHandle.WaitResult)
+ // {
+ // //#region 鏉垮崱鏆傚仠鍔ㄤ綔
+ // //motionDevice.SetImmediatePause();
+ // //#endregion
- _pauseHandle.WaitHandle.Reset();
- _pauseHandle.WaitResult = true;
- MachineState = MachineState.Pause;
- }
- }
- else
- {
- if (!_pauseHandle.WaitResult)
- {
- #region 鏉垮崱鎭㈠鍔ㄤ綔
- motionDevice.ResetImmediatePause();
- #endregion
+ // //_pauseHandle.WaitHandle.Reset();
+ // //_pauseHandle.WaitResult = true;
+ // MachineState = MachineState.Pause;
+ // }
+ //}
+ //else
+ //{
+ // if (!_pauseHandle.WaitResult)
+ // {
+ // //#region 鏉垮崱鎭㈠鍔ㄤ綔
+ // //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", "鏆傚仠娴佺▼", InvokeType.TestInvoke)]
@@ -633,6 +611,7 @@
{
get => !(IsSafetyBeamTrigged || IsSafetyDoorTrigged || IsEmergencyStopped);
}
+
string SafetyMsg
{
get => $"{(IsSafetyBeamTrigged ? "瀹夊叏鍏夊箷" : "")}{(IsSafetyDoorTrigged ? " 瀹夊叏闂�" : "")}{(IsEmergencyStopped ? " 鎬ュ仠鎸夐挳" : "")}瑙﹀彂涓�";
@@ -641,21 +620,81 @@
#region 瀹夊叏闂� & 瀹夊叏鍏夌嚎
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 async void CheckMachinePauseState()
+ {
+ await Task.Run(() =>
+ {
+ if (IsMachinePaused)
+ {
+ _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", "瀹夊叏闂ㄤ俊鍙风洃鎺э紝姝ｅ父ON锛孫FF鏃舵姤璀�", 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("瀹夊叏闂ㄧ洃鎺ф湭閰嶇疆杈撳叆淇″彿");
@@ -664,7 +703,6 @@
if (IsSafetyDoorTrigged)
{
RaisedAlarm("瀹夊叏闂ㄦ湭姝ｅ父鍏抽棴");
- MachineState = MachineState.Alarm;
}
return new ProcessResponse(true);
@@ -673,8 +711,8 @@
[ProcessMethod("", "SafetyBeamSignal", "瀹夊叏鍏夊箷淇″彿鐩戞帶锛屾甯窸N锛孫FF鏃舵姤璀�", InvokeType.TestInvoke)]
public ProcessResponse SafetyBeamSignal(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
{
- if (MachineState != MachineState.Running && MachineState != MachineState.Alarm)
- return new ProcessResponse(true);
+ //if (MachineState != MachineState.Running && MachineState != MachineState.Pause)
+ // return new ProcessResponse(true);
if (opConfig.InputPara == null || opConfig.InputPara.Count == 0)
throw new ProcessException("瀹夊叏鍏夊箷鐩戞帶鏈厤缃緭鍏ヤ俊鍙�");
@@ -684,7 +722,6 @@
if (IsSafetyBeamTrigged)
{
RaisedAlarm("瀹夊叏鍏夌嚎琚伄鎸�");
- MachineState = MachineState.Alarm;
}
return new ProcessResponse(true);
--
Gitblit v1.8.0