From 1491846b4736bc2e79604086acfd8544aa3ba384 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期一, 07 九月 2020 12:09:46 +0800
Subject: [PATCH] Merge branch 'master' of http://gitblit.broconcentric.com:8088/r/M071
---
src/Bro.M071.Process/M071Process_MotionCard.cs | 508 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 317 insertions(+), 191 deletions(-)
diff --git a/src/Bro.M071.Process/M071Process_MotionCard.cs b/src/Bro.M071.Process/M071Process_MotionCard.cs
index 29b2055..c85443d 100644
--- a/src/Bro.M071.Process/M071Process_MotionCard.cs
+++ b/src/Bro.M071.Process/M071Process_MotionCard.cs
@@ -20,112 +20,139 @@
const int FULLRESETTIME = 5;
object machineStateLock = new object();
+ //MachineState _machineStatePre = MachineState.Unknown;
MachineState machineState = MachineState.Unknown;
public MachineState MachineState
{
get => machineState;
set
{
+ if (machineState == value)
+ return;
+
machineState = value;
- switch (machineState)
+ Task.Run(() =>
{
- case MachineState.Ready:
- lock (machineStateLock)
- {
- SwitchBeep(false);
- SwitchLightRed(false);
- SwitchLightYellow(false);
- }
-
- Task.Run(() =>
- {
+ switch (machineState)
+ {
+ case MachineState.Ready:
lock (machineStateLock)
+ {
+ SwitchBeep(false);
+ SwitchLightRed(false);
+ SwitchLightYellow(false);
+ }
+
+ Task.Run(() =>
{
while (MachineState == MachineState.Ready)
{
- SwitchLightGreen(true);
- Thread.Sleep(1000);
- SwitchLightGreen(false);
- Thread.Sleep(1000);
+ 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(() =>
- {
+ 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)
{
- SwitchLightYellow(true);
- SwitchLightGreen(true);
- Thread.Sleep(1000);
- SwitchLightYellow(false);
- SwitchLightGreen(false);
- Thread.Sleep(1000);
+ 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(() =>
- {
+ });
+ break;
+ case MachineState.Resetting:
lock (machineStateLock)
+ {
+ SwitchBeep(false);
+ SwitchLightRed(false);
+ SwitchLightGreen(false);
+ }
+ Task.Run(() =>
{
while (MachineState == MachineState.Resetting)
{
- SwitchLightYellow(true);
- Thread.Sleep(1000);
- SwitchLightYellow(false);
- Thread.Sleep(1000);
+ lock (machineStateLock)
+ {
+ SwitchLightYellow(true);
+ Thread.Sleep(1000);
+ SwitchLightYellow(false);
+ Thread.Sleep(1000);
+ }
}
- }
- });
- break;
- default:
- break;
- }
+ });
+ break;
+ default:
+ break;
+ }
+ });
OnMachineStateChanged?.Invoke(machineState);
}
}
+ 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()
{
IDevice device = DeviceCollection.FirstOrDefault(u => u is IMotionCard);
- if (device.InitialConfig is MotionCardInitialConfigBase iConfig)
+ if (device?.InitialConfig is MotionCardInitialConfigBase iConfig)
{
outputCtrlCard = device as MotionCardBase;
@@ -185,54 +212,60 @@
}
}
+ [ProcessMethod("MotionCardBase", "GotoReadyPosition", "杩愬姩鍒伴澶囦綅缃�", InvokeType.TestInvoke)]
+ public ProcessResponse GotoReadyPosition(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
+ {
+ MotionCardDefaultRun("GotoReadyPosition", ref opConfig, ref invokeDevice);
+
+ LogAsync(DateTime.Now, "杩愬姩鍒伴澶囦綅缃畬鎴�", "");
+
+ return new ProcessResponse(true);
+ }
+
[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 (IsSafetyBeamTrigged || IsSafetyDoorTrigged)
- {
- LogAsync(DateTime.Now, $"{(IsSafetyDoorTrigged ? "瀹夊叏闂�" : "")}{(IsSafetyBeamTrigged ? " 瀹夊叏鍏夌嚎" : "")}瑙﹀彂涓紝澶嶄綅澶辫触", "");
- return new ProcessResponse(false);
- }
-
- MotionCardDefaultRun("Reset", ref opConfig, ref invokeDevice);
- //(invokeDevice as IMotionCard).Reset();
-
- RaisedAlarm("");
- MachineState = MachineState.Ready;
-
if (ResetTimer == null)
{
ResetTimer = new Timer(FullReset, null, -1, -1);
}
- if (opConfig.InputPara.Count > 0)
+ if (opConfig?.InputPara != null && opConfig.InputPara.Count > 0)
{
//澶у浣嶄俊鍙�
- ResetTimer.Change(-1, opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1);
+ ResetTimer.Change(opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1, -1);
+
+ if (opConfig.InputPara[0] == 0)
+ return new ProcessResponse(true);
}
- //if (invokeDevice is MotionCardBase motionCard)
- //{
- // motionCard.Run(opConfig);
- //}
+ if (!IsAllowedWork)
+ {
+ LogAsync(DateTime.Now, $"{SafetyMsg}锛屽浣嶅け璐�", "");
+ return new ProcessResponse(false);
+ }
+
+ MotionCardDefaultRun("Reset", ref opConfig, ref invokeDevice);
+ (invokeDevice as MotionCardBase).ResetAlarm();
+
+ RaisedAlarm("");
+
+ 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);
+ }
LogAsync(DateTime.Now, "鏅�氬浣嶅姩浣滃畬鎴�", "");
@@ -251,31 +284,21 @@
}
}
- [ProcessMethod("MotionCardOperationConfigCollection", "FullReset", "澶у浣嶆搷浣�", InvokeType.TestInvoke)]
+ //[ProcessMethod("MotionCardOperationConfigCollection", "FullReset", "澶у浣嶆搷浣�", InvokeType.TestInvoke)]
+ [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 (MachineState == MachineState.Pause)
+ {
+ Resume(false);
+ }
- // 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);
- //}
MachineState = MachineState.Resetting;
MotionCardDefaultRun("FullReset", ref opConfig, ref invokeDevice);
@@ -284,8 +307,14 @@
OnFullResetDone?.Invoke();
+ isFullResetCovered = true;
+
LogAsync(DateTime.Now, "澶у浣嶅姩浣滃畬鎴�", "");
+
+ RaisedAlarm("");
MachineState = MachineState.Ready;
+
+ GotoReadyPosition(null, null, null);
return new ProcessResponse(true);
}
@@ -295,14 +324,14 @@
/// 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("", "PauseJob", "鏆傚仠娴佺▼", InvokeType.TestInvoke)]
+ [ProcessMethod("", "SwitchJobStatus", "娴佺▼鐘舵�佸垏鎹�", InvokeType.TestInvoke)]
public ProcessResponse SwitchJobStatus(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
{
if (!_statesAllowPause.Contains(MachineState))
@@ -318,66 +347,53 @@
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)
+
+ if (opConfig.InputPara[0] == 10)
{
- isToPause = opConfig.InputPara[0] == 1;
+ isToPause = false;
+ }
+ else if (opConfig.InputPara[0] == 11)
+ {
+ isToPause = true;
}
if (isToPause == null)
{
- if (!_pauseHandle.WaitResult)
- {
- #region 鏉垮崱鏆傚仠鍔ㄤ綔
- motionDevice.StateChange(DeviceState.DSPause);
- #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.StateChange(DeviceState.DSOpen);
- #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.StateChange(DeviceState.DSPause);
- #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.StateChange(DeviceState.DSOpen);
- #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)]
@@ -553,7 +569,7 @@
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)
@@ -581,24 +597,98 @@
}
}
+ bool IsAllowedWork
+ {
+ 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�";
+ }
+
#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 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", "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");
@@ -607,7 +697,6 @@
if (IsSafetyDoorTrigged)
{
RaisedAlarm("瀹夊叏闂ㄦ湭姝ｅ父鍏抽棴");
- MachineState = MachineState.Alarm;
}
return new ProcessResponse(true);
@@ -624,6 +713,43 @@
if (IsSafetyBeamTrigged)
{
RaisedAlarm("瀹夊叏鍏夌嚎琚伄鎸�");
+ }
+
+ return new ProcessResponse(true);
+ }
+ #endregion
+
+ #region 鎬ュ仠
+ bool isEmergencyStopped = false;
+ bool isFullResetCovered = true;
+ public bool IsEmergencyStopped
+ {
+ get => isEmergencyStopped && isFullResetCovered;
+ set
+ {
+ if (value)
+ {
+ isFullResetCovered = false;
+ isEmergencyStopped = true;
+ }
+ else
+ {
+ isEmergencyStopped = false;
+ }
+ }
+ }
+
+ [ProcessMethod("", "EmergencyStop", "鎬ュ仠鎸夐挳琚媿涓�", InvokeType.TestInvoke)]
+ public ProcessResponse EmergencyStop(IOperationConfig opConfig, IDevice invokeDevice, IDevice sourceDevice)
+ {
+ if (opConfig.InputPara == null || opConfig.InputPara.Count == 0)
+ throw new ProcessException("鎬ュ仠鎸夐挳鏈厤缃緭鍏ヤ俊鍙�");
+
+ IsEmergencyStopped = opConfig.InputPara[0] == 0;
+
+ if (isEmergencyStopped)
+ {
+ RaisedAlarm("鎬ュ仠鎸夐挳琚媿涓�");
MachineState = MachineState.Alarm;
}
--
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