MainMachine.cs
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using OnlineStore;
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;
using System.Windows.Forms;
namespace DeviceLibrary
{
public partial class MainMachine// : IRobot<Robot_Config>
{
public string Name { get; set; } = "DualSISO";
private bool _canRunning = true;
public bool canRunning
{
get { return _canRunning; }
set
{
if (_canRunning != value) {
//Msg.setlogones();
}
_canRunning = value;
}
}
public bool isAlarm { get=>RobotManage.Stores.Sum(s=>s.isAlarm?1:0)>0;}
public RunStatus runStatus { get; set; } = RunStatus.Stop;
public Robot_Config Config { get; set; }
public bool UserPause { get; set; } = false;
/// <summary>
/// 是否在急停中
/// </summary>
public bool isInSuddenDown = false;
public MainMachine(Robot_Config _config) {
Config = _config;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
#region 初始化led灯
RunningLed = new Led(Config.DOList[IO_Type.Run_Led].GetIOAddr(),LedColor.green);
StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr(), LedColor.yellow);
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(), LedColor.red);
#endregion
#region 初始化伺服轴
Crc_LanguageChangeEvent(null, EventArgs.Empty);
#endregion
AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH,Config); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW, Config); });
IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500, 100);
LedProcessInit();
}
private void Crc_LanguageChangeEvent(object sender, EventArgs e)
{
}
//public bool hasAlarm = false;
/// <summary>
/// 整机启动变量,设置为false后将退出线程,只在停止时调用
/// </summary>
bool mstart=true;
public void Run() {
mstart = true;
while (mstart) {
try
{
canRunning = DeviceCheck();
if (canRunning)
{
BtnProcess();
canRunning = SafeCheck();
}
Thread.Sleep(200);
if (!canRunning || !mstart)
continue;
if (runStatus == RunStatus.Running)
{
ioMonitor();
}
else if (runStatus == RunStatus.HomeReset)
{
//HomeReset();
}
}
catch (Exception ex)
{
MsgService.Add(ex.ToString(), MsgLevel.warning);
}
finally {
if (isAlarm)
{
AlarmBuzzer.OFF();
}
else {
AlarmBuzzer.ON();
}
}
}
LogUtil.info("主线程已退出.");
}
public void Start() {
Run();
}
public void Stop() {
mstart = false;
UserPause = false;
Thread.Sleep(300);
LedProcess(null);
}
public bool IgnoreGratingSignal = false;
bool lastSafeCheckStatus = true;
bool SafeCheck() {
bool ok = true;
lastSafeCheckStatus = ok;
return ok;
}
void DeviceSuddenStop() {
if (lastSafeCheckStatus)
{
}
}
public bool DeviceCheck() {
bool ok = true;
isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN, Config).Equals(IO_VALUE.LOW);
if (UserPause)
{
MsgService.Add(crc.GetString("Res0133","系统暂停"), MsgLevel.warning);
DeviceSuddenStop();
lastSafeCheckStatus = false;
ok = false;
return ok;
}
else if (isInSuddenDown)
{
MsgService.Add(crc.GetString("Res0134","急停中"), MsgLevel.alarm);
ok = false;
}
return ok;
}
public IO_VALUE IOValue(string ioType, DeviceConfig config) => IOManager.IOValue(ioType, config);
void IOMove(string IoType, IO_VALUE value, DeviceConfig config, bool isCheck = false, int msTime = 0)
{
if (msTime <= 0)
{
if (isCheck && (IOValue(IoType, config).Equals(value)))
{
return;
}
IOManager.IOMove(IoType, value, config);
}
else
{
Task.Run(() =>
{
IOManager.IOMove(IoType, value, config);
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
LogUtil.info(Name + "定时回写IO: [" + IoType + "]=[" + value + "]，msTime=" + msTime);
IOManager.IOMove(IoType, tValue, config);
});
}
}
}
}