LiftMonitor.cs
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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 DeviceLibrary
{
public class LiftMonitor : ISafetyDevice
{
/// <summary>
/// 关闭端延时
/// </summary>
public int DownOverTimeMS = 0;
public int UpOverTimeMS = 0;
public bool SlowAftPause = false;
string up;
string down;
string saftylight;
string axisbreak;
public AxisBean axisBean;
int upspeed;
int downspeed;
int StrokeLength = 270000;
MoveInfo moveInfo1;
bool paused = false;
public LiftMonitor(string _up, string _down, string _saftylight, string _break, AxisBean _axisBean, int _StrokeLength, int _upspeed, int _downspeed = 0, string name = "升降机构")
{
moveInfo1 = new MoveInfo(name, false);
up = _up;
down = _down;
saftylight = _saftylight;
axisBean = _axisBean;
upspeed = _upspeed;
axisbreak = _break;
downspeed = _downspeed;
StrokeLength = _StrokeLength;
if (downspeed == 0)
{
downspeed = upspeed;
}
SafetyDevice.AddDevice(this);
}
public void UpdateParam(int length, int upSpeed, int downSpeed = 0)
{
StrokeLength = length;
upspeed = upSpeed;
if (downspeed == 0)
{
downspeed = upspeed;
}
}
public void ClearAlarm()
{
}
public bool isAtTOP
{
get
{
return IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH);
}
}
public bool isAtBOTTOM
{
get
{
return IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH);
}
}
public void LiftUp(MoveInfo moveInfo)
{
if (moveInfo == null)
moveInfo = moveInfo1;
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
double speed = (double)upspeed;
if (paused && SlowAftPause)
{
speed = speed / 3.0;
moveInfo.log($"上一次有暂停，速度降为{speed}");
}
paused = false;
if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
{
moveInfo.log($"{axisBean.AxisName},已在位置,无需上升");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
Thread.Sleep(200);
}
axisBean.RelMove(StrokeLength, speed);
DateTime d = DateTime.Now;
moveInfo.log($"{axisBean.AxisName},LiftUp");
var wr = WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升");
if (moveInfo != null)
moveInfo.WaitList.Add(wr);
Task.Run(() =>
{
while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
{
Task.Delay(15).Wait();
if (paused)
{
paused = false;
return;
}
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log("设备急停");
emergencyStop();
return;
}
if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW) && IOManager.IOValue(down.ToString()).Equals(IO_VALUE.LOW))
{
moveInfo.log($"{saftylight}触发停止");
Pause();
return;
}
}
moveInfo1.WaitList.Clear();
moveInfo.WaitList.Remove(wr);
if (UpOverTimeMS > 0)
Task.Delay(UpOverTimeMS).Wait();
axisBean.SuddenStop();
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
axisBean.ServoOff();
}
var t = (DateTime.Now - d).TotalSeconds;
moveInfo.log($"{axisBean.AxisName},上升到位,s:{t}");
});
}
bool WaitUp(WaitResultInfo w)
{
if ((DateTime.Now - LastResumeTime).TotalSeconds < ResumeWaitTimeSec)
return false;
if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
{
if (UpOverTimeMS > 0)
Task.Delay(UpOverTimeMS).Wait();
axisBean.SuddenStop();
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
axisBean.ServoOff();
}
return true;
}
if (!axisBean.IsBusy)
{
LogUtil.info("恢复继续上升");
LiftUp(null);
}
return false;
}
public void LiftDown(MoveInfo moveInfo)
{
if (moveInfo == null)
moveInfo = moveInfo1;
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
moveInfo.log($"急停未解除");
return;
}
double speed = (double)downspeed;
if (paused && SlowAftPause)
{
speed = speed / 3.0;
moveInfo.log($"上一次有暂停，速度降为{speed}");
}
paused = false;
if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
{
moveInfo.log($"{axisBean.AxisName},已在位置,无需下降");
return;
}
if (!axisBean.IsServeoOn)
axisBean.Open(true, out string msg);
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
Thread.Sleep(200);
}
axisBean.RelMove(-StrokeLength, speed);
DateTime d = DateTime.Now;
moveInfo.log($"{axisBean.AxisName},LiftDown");
var wr = WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), $"等待顶升[{axisBean.Config.Explain}]机构下降");
if (moveInfo != null)
moveInfo.WaitList.Add(wr);
Task.Run(() =>
{
while (!IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
{
Task.Delay(15).Wait();
if (paused)
{
paused = false;
return;
}
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
LogUtil.info("设备急停");
emergencyStop();
return;
}
if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW))
{
moveInfo.log($"{saftylight}触发停止");
Pause();
return;
}
}
moveInfo1.WaitList.Clear();
moveInfo.WaitList.Remove(wr);
if (DownOverTimeMS > 0)
Task.Delay(DownOverTimeMS).Wait();
axisBean.SuddenStop();
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
axisBean.ServoOff();
}
var t = (DateTime.Now - d).TotalSeconds;
moveInfo.log($"{axisBean.AxisName},下降到位,s:{t}");
});
}
bool WaitDown(WaitResultInfo w)
{
if ((DateTime.Now - LastResumeTime).TotalSeconds < ResumeWaitTimeSec)
return false;
if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
{
if (DownOverTimeMS > 0)
Task.Delay(DownOverTimeMS).Wait();
axisBean.SuddenStop();
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
axisBean.ServoOff();
}
return true;
}
if (!axisBean.IsBusy)
{
LogUtil.info("恢复继续下降");
LiftDown(null);
}
return false;
}
void emergencyStop()
{
paused = true;
axisBean.SuddenStop();
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
axisBean.ServoOff();
}
}
public void Pause()
{
// if (!isDoorClose())
{
paused = true;
axisBean.SuddenStop();
if (!string.IsNullOrEmpty(axisbreak))
{
IOManager.IOMove(axisbreak, IO_VALUE.LOW);
axisBean.ServoOff();
}
}
}
DateTime LastResumeTime = DateTime.Now;
public int ResumeWaitTimeSec = 0;
public void Resume()
{
ResumeSingle();
}
public void ResumeSingle()
{
LastResumeTime = DateTime.Now;
try
{
if (moveInfo1.WaitList.Count > 0)
{
if (moveInfo1.WaitList[0].WaitType == WaitEnum.W013_Action)
{
var wt = moveInfo1.WaitList[0];
for (int i = 0; i < 100; i++)
{
var w = wt.Action?.Invoke(moveInfo1.WaitList[0]);
if (w == null)
return;
if (w.Value)
break;
Task.Delay(100).Wait();
}
}
}
}
catch { }
}
}
}