From 66d995d55f9c122328b4eceb99bc20aca3a42c10 Mon Sep 17 00:00:00 2001
From: wells <123>
Date: 星期日, 12 七月 2020 21:04:16 +0800
Subject: [PATCH] debug
---
src/Bro.M071.Process/M071Process_MotionCard.cs | 131 ++++++++++++++++++++++++++++++++++++++-----
1 files changed, 114 insertions(+), 17 deletions(-)
diff --git a/src/Bro.M071.Process/M071Process_MotionCard.cs b/src/Bro.M071.Process/M071Process_MotionCard.cs
index f2adb36..2821708 100644
--- a/src/Bro.M071.Process/M071Process_MotionCard.cs
+++ b/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)
{
- while (MachineState == MachineState.Ready)
+ lock (machineStateLock)
{
SwitchLightGreen(true);
Thread.Sleep(1000);
@@ -79,9 +83,9 @@
}
Task.Run(() =>
{
- lock (machineStateLock)
+ while (MachineState == MachineState.Pause)
{
- while (MachineState == MachineState.Pause)
+ lock (machineStateLock)
{
SwitchLightYellow(true);
SwitchLightGreen(true);
@@ -102,10 +106,11 @@
}
Task.Run(() =>
{
- lock (machineStateLock)
+ while (MachineState == MachineState.Resetting)
{
- while (MachineState == MachineState.Resetting)
+ lock (machineStateLock)
{
+
SwitchLightYellow(true);
Thread.Sleep(1000);
SwitchLightYellow(false);
@@ -185,6 +190,16 @@
}
}
+ [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)
{
@@ -206,9 +221,23 @@
// }
//}
- if (IsSafetyBeamTrigged || IsSafetyDoorTrigged)
+ if (ResetTimer == null)
{
- 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", "");
+ ResetTimer = new Timer(FullReset, null, -1, -1);
+ }
+
+ if (opConfig?.InputPara != null && opConfig.InputPara.Count > 0)
+ {
+ //澶у浣嶄俊鍙�
+ ResetTimer.Change(opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1, -1);
+
+ if (opConfig.InputPara[0] == 0)
+ return new ProcessResponse(true);
+ }
+
+ if (!IsAllowedWork)
+ {
+ LogAsync(DateTime.Now, $"{SafetyMsg}锛屽浣嶅け璐�", "");
return new ProcessResponse(false);
}
@@ -218,16 +247,19 @@
RaisedAlarm("");
MachineState = MachineState.Ready;
- if (ResetTimer == null)
+ if (IsEmergencyStopped)
{
- ResetTimer = new Timer(FullReset, null, -1, -1);
+ RaisedAlarm("鎬ュ仠鎸夐挳鏈仮澶嶏紝璇锋墽琛屽ぇ澶嶄綅");
+ MachineState = MachineState.Alarm;
}
- if (opConfig.InputPara.Count > 0)
- {
- //澶у浣嶄俊鍙�
- ResetTimer.Change(-1, opConfig.InputPara[0] == 1 ? FULLRESETTIME * 1000 : -1);
- }
+
+
+ //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)
//{
@@ -277,6 +309,7 @@
//{
// motionCard.Run(opConfig);
//}
+
MachineState = MachineState.Resetting;
MotionCardDefaultRun("FullReset", ref opConfig, ref invokeDevice);
@@ -285,8 +318,14 @@
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);
}
@@ -319,9 +358,17 @@
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 != null && opConfig.InputPara.Count > 0)
+ //{
+ // isToPause = opConfig.InputPara[0] == 1;
+ //}
+ if (opConfig.InputPara[0] == 10)
{
- isToPause = opConfig.InputPara[0] == 1;
+ isToPause = false;
+ }
+ else if (opConfig.InputPara[0] == 11)
+ {
+ isToPause = true;
}
if (isToPause == null)
@@ -582,6 +629,15 @@
}
}
+ 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;
@@ -617,6 +673,9 @@
[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 (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�");
@@ -631,5 +690,43 @@
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;
+ }
+
+ return new ProcessResponse(true);
+ }
+ #endregion
}
}
--
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