门禁暂停以及回原限制

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -16,6 +16,9 @@ namespace OnlineStore.DeviceLibrary
     public abstract class EquipBase : DeviceBase
     {
         public bool IsDebug = false;
+        /// <summary>
+        /// 暂停运动
+        /// </summary>
         public bool MoveStop = false;
         protected int TimerMaxSeconds = 3;
         public bool AxisAlarmFlag = false;//轴报警异常标识
@@ -529,16 +532,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     yellowMove = true;
                 }
-                if (isInSuddenDown || isNoAirpressure_Check || alarmType >= alarmRedLedType)
-                {
-                    isNeedAlarmLed = true;
-                }
-                else if (alarmType.Equals(AlarmType.None).Equals(false))
-                {
-                    yellowMove = true;
-                }
-
-                if (isNoAirpressure_Check || isInSuddenDown || alarmType >= alarmRedLedType)
+                if (isInSuddenDown || isNoAirpressure_Check || alarmType >= alarmRedLedType|| MoveStop)
                 {
                     isNeedAlarmLed = true;
                 }

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -1173,10 +1173,10 @@ namespace OnlineStore.DeviceLibrary
                 return;
             }
 
-            LogUtil.info($"{Name} {doorname}被打开，停止当前运动{MoveInfo.MoveType},MoveStop={MoveStop}，报警急停");
-            SetWarnMsg($"{doorname}被打开，报警急停");
-            Alarm(AlarmType.SuddenStop);
-
+            LogUtil.info($"{Name} {doorname}被打开，停止当前运动{MoveInfo.MoveType},MoveStop={MoveStop}");
+            SetWarnMsg($"{doorname}被打开，暂停运动");
+            //Alarm(AlarmType.SuddenStop);
+            MoveStop = true;
         }
 
         private void SecurityAccessReset()
@@ -1194,7 +1194,7 @@ namespace OnlineStore.DeviceLibrary
                 return;
             }
             CurrSecurityAccess = 0;
-            MoveStop = false;
+            //MoveStop = false;
 
             if (alarmType > (AlarmType.IoSingleTimeOut))
             {

source/XLRStoreClient/boxForm/FrmBoxEquip.cs

@@ -219,6 +219,10 @@ namespace OnlineStore.XLRStore
                     {
                         FormStatus(true);
                     }
+                    if (boxBean.MoveStop != chbMoveStop.Checked)
+                    {
+                        chbMoveStop.Checked = boxBean.MoveStop;
+                    }
                 }
                 else
                 {

source/XLRStoreClient/useControl/AxisMoveControl.cs

@@ -124,13 +124,77 @@ namespace OnlineStore.XLRStore
         {
             if (currSelAxis != null)
             {
+                if (!CanHome(currSelAxis)) return;
                 //int speed = FormUtil.GetIntValue(txtASpeed);
                 int speed = currSelAxis.HomeHighSpeed;
                 LogUtil.info(equipBase.Name + "界面点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】");
                 AxisManager.instance.HomeMove(PortName, SlvAddr, speed,currSelAxis.HomeLowSpeed,currSelAxis.HomeAddSpeed);
             }
         }
-         
+         bool CanHome(ConfigMoveAxis moveAxis)
+        {
+            switch (moveAxis.Explain)
+            {
+                case "行走机构":
+                    if (!IsInHome(axisList[1]))
+                    {
+                        MessageBox.Show("料斗拉取进出轴未在原点，不允许回原");
+                        return false;
+                    }
+                    if (!IsInHome(axisList[2]))
+                    {
+                        MessageBox.Show("移栽升降轴未在原点，不允许回原");
+                        return false;
+                    }
+                    if (!IsInHome(axisList[6]))
+                    {
+                        MessageBox.Show("料斗拉取升降轴未在原点，不允许回原");
+                        return false;
+                    }
+                    break;
+                case "移栽升降轴":
+                    if(!moveAxisInSafe())
+                    {
+                        MessageBox.Show("行走机构未在安全位置（小于安全位置或正极限信号亮），不允许回原");
+                        return false;
+                    }
+                    if (!IsInHome(axisList[6]))
+                    {
+                        MessageBox.Show("料斗拉取升降轴未在原点，不允许回原");
+                        return false;
+                    }
+                    break;
+                case "料斗拉取升降轴":
+                    if (!moveAxisInSafe())
+                    {
+                        MessageBox.Show("行走机构未在安全位置（小于安全位置或正极限信号亮），不允许回原");
+                        return false;
+                    }
+                    if (!IsInHome(axisList[1]))
+                    {
+                        MessageBox.Show("料斗拉取进出轴未在原点，不允许回原");
+                        return false;
+                    }
+                    break;             
+            }
+            return true;
+        }
+        bool moveAxisInSafe()
+        {
+            string portName = PortName = axisList[0].Config.DeviceName;
+            short slvAddr = axisList[0].Config.GetAxisValue();
+            bool posSig=AxisManager.instance.GetLimitPositiveSingle(portName, slvAddr).Equals(1);
+            bool safePos=AxisManager.instance.GetActualtPosition(portName, slvAddr) >= StoreManager.XLRStore.boxEquip.Config.MoveAxis_SafePos;
+            if (!posSig && safePos)
+                return true;
+            return false;
+        }
+        bool IsInHome(AxisBean axisBean)
+        {
+            string portName= PortName = axisBean.Config.DeviceName;
+            short slvAddr = axisBean.Config.GetAxisValue();
+            return AxisManager.instance.GetHomeSingle(portName, slvAddr).Equals(1);
+        }
         private void btnReadPosition_Click(object sender, EventArgs e)
         { 
             txtAxisPosition.Text = AxisManager.instance.GetActualtPosition(PortName, SlvAddr).ToString();