添加料串门光栅处理方式配置

DeviceLibrary/theMachine/MainMachine.cs

@@ -624,6 +624,10 @@ namespace DeviceLibrary
 
         bool lastSafeCheckStatus = true;
         bool lastStringSafetyStatus = true;
+        /// <summary>
+        /// 料串门光栅触发处理方式
+        /// </summary>
+        int stringdoorSafetyProcStrategy = ConfigAppSettings.GetValue("StringDoor_SafetyLightCurtainsProcStrategy", 1, "料串门光栅触发处理方式：0-设备急停；1-仅料串门停止");
         bool SafeCheck()
         {
             bool ok = true;
@@ -648,18 +652,23 @@ namespace DeviceLibrary
                         lastStringSafetyStatus = false;
                         StringDoor.Pause();
                     }
-                    ok = false;
-                    DeviceSuddenStop();
+                    if (stringdoorSafetyProcStrategy == 0)
+                    {
+                        ok = false;
+                        DeviceSuddenStop();
+                    }
+                }
+                else if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.HIGH))
+                {
+                    if(stringdoorSafetyProcStrategy==1)
+                    {
+                        if (!lastStringSafetyStatus)
+                        {
+                            StringDoor.ResumeSingle();
+                            lastStringSafetyStatus = true;
+                        }
+                    }
                 }
-                //else if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.HIGH))
-                //{
-                //    if (!lastStringDoorSafetyStatus)
-                //    {
-                //        StringDoor.ResumeSingle();
-                //        lastStringDoorSafetyStatus = true;
-                //    }
-
-                //}
             }
             if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
             {

DeviceLibrary/theMachine/MainMachine_AGV.cs

@@ -72,6 +72,8 @@ namespace DeviceLibrary
         /// </summary>
         void needEnter(NodeStatus nodeStatus)
         {
+            if (!UseAgv())
+                return;
             if (nodeStatus.Equals(NodeStatus.NeedEnter) ||
                nodeStatus.Equals(NodeStatus.NeedEnter_Empty) ||
                nodeStatus.Equals(NodeStatus.NeedEnter_Full))
@@ -91,6 +93,8 @@ namespace DeviceLibrary
         /// </summary>
         void needLeave(NodeStatus nodeStatus)
         {
+            if (!UseAgv())
+                return;
             if (nodeStatus.Equals(NodeStatus.NeedLeave) ||
                     nodeStatus.Equals(NodeStatus.NeedLeave_Full) ||
                     nodeStatus.Equals(NodeStatus.NeedLeave_Empty))