DoorControl.cs
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using DeviceLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class DoorControl : IDisposable
{
string Name;
Robot_Config Config;
Thread DoorRunMonitorThread;
public DoorControl(string name , Robot_Config config) {
Name = name;
Config = config;
InitDoorRunMonitor();
}
void InitDoorRunMonitor() {
DoorRunMonitorThread = new Thread(new ThreadStart(DoorRunMonitor));
DoorRunMonitorThread.Start();
//GC.KeepAlive(DoorRunMonitorThread);
LogUtil.info(Name + "出料门运行监控开始");
}
bool DoorRunMonitorEnable = false;
public void OpenDoor(MoveInfo moveInfo)
{
if (DoorIsOpen())
{
LogUtil.info(Name + "出料门开门,已在开闭状态");
return; }
if (_doorRunState != 0)
{
LogUtil.info(Name + "出料门正在运行");
return;
}
_doorRunState = 1;
CheckDoorState();
starttime = DateTime.Now;
AxisManager.RelMove(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue(), Config.Door_Length, Config.Door_Length_speed, Config.Door_Length_speed * 4, Config.Door_Length_speed * 4);
LogUtil.info(Name + "出料门开门,速度: " + Config.Door_Length_speed);
DoorRunMonitorEnable = true;
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
}
}
/// <summary>
/// 记录是否是因为开门打开的吹气
/// </summary>
public void CloseDoor(MoveInfo moveInfo)
{
if (DoorIsClose())
{
LogUtil.info(Name + "出料门关门,已在关闭状态");
return;
}
if (_doorRunState != 0)
{
LogUtil.info(Name + "出料门正在运行");
return;
}
CheckDoorState();
_doorRunState = -1;
starttime = DateTime.Now;
AxisManager.RelMove(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue(), Config.Door_Length* -1, Config.Door_Length_speed, Config.Door_Length_speed * 4, Config.Door_Length_speed * 4);
LogUtil.info(Name + "出料门关门,速度: -" + Config.Door_Length_speed);
DoorRunMonitorEnable = true;
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
}
}
void CheckDoorState() {
if (!AxisManager.IsServeoOn(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue()))
{
AxisManager.AlarmClear(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
Thread.Sleep(100);
AxisManager.ServoOn(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
}
var isAlarm = HuichuanLibrary.HCBoardManager.GetAxisSts(Config.Door_Axis.GetAxisValue()).ALM == 1;
if (isAlarm) {
AxisManager.ServoOff(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
Thread.Sleep(100);
AxisManager.AlarmClear(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
Thread.Sleep(100);
AxisManager.ServoOn(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
}
}
public bool DoorIsClose()
{
return IOManager.IOValue(IO_Type.Door_Down,Config).Equals(IO_VALUE.HIGH);
}
public bool DoorIsOpen()
{
return IOManager.IOValue(IO_Type.Door_Up,Config).Equals(IO_VALUE.HIGH);
}
void DoorStop(bool ResetState=true) {
if (Config.Door_Axis != null)
{
AxisManager.SuddenStop(Config.Door_Axis);
LogUtil.info(Name + "出料门停止");
DoorRunMonitorEnable = false;
if (ResetState)
_doorRunState = 0;
}
}
int _doorRunState = 0;
/// <summary>
///
/// </summary>
/// <returns>1:开门,-1:关门,0:不在运动</returns>
int DoorRunState()
{
return _doorRunState;
var b = HuichuanLibrary.HCBoardManager.GetAxisSts(Config.Door_Axis.GetAxisValue()).BUSY == 0;
if (b)
return 0;
var s = HuichuanLibrary.HCBoardManager.GetAxisPrfVel(Config.Door_Axis.GetAxisValue());
return s > 0 ? 1 : -1;
}
bool ServiceRun = true;
~DoorControl() {
ServiceRun = false;
}
DateTime starttime;
void DoorRunMonitor()
{
while (ServiceRun)
{
if (DoorRunMonitorEnable)
{
Thread.Sleep(5);
}
else
{
//检测到门在运行立刻开始监控
if (DoorRunState() != 0)
{
DoorRunMonitorEnable = true;
continue;
}
Thread.Sleep(200);
continue;
}
//开门检测
if (DoorRunState() == 1 && IOManager.IOValue(IO_Type.Door_Up, Config).Equals(IO_VALUE.HIGH))
{
DoorStop();
DoorRunMonitorEnable = false;
continue;
}
//关门检测
if (DoorRunState() == -1 && IOManager.IOValue(IO_Type.Door_Down, Config).Equals(IO_VALUE.HIGH))
{
DoorStop();
DoorRunMonitorEnable = false;
continue;
}
if ((DateTime.Now - starttime).TotalSeconds > 3) {
DoorStop();
DoorRunMonitorEnable = false;
LogUtil.info(Name + "出料门运动超时,停止");
continue;
}
//var b = HuichuanLibrary.HCBoardManager.GetAxisSts(Config.Door_Axis.GetAxisValue()).BUSY == 0;
//if (b) {
//};
}
LogUtil.info(Name + "出料门运行监控退出");
}
public void Dispose()
{
ServiceRun = false;
}
}
}