急停时显示、急停按钮功能

DeviceLibrary/theMachine/MainMachine _BtnProcess.cs

@@ -18,9 +18,10 @@ namespace DeviceLibrary
         { 
             
         }
+        bool lastSuddenStop = true;
         void Reset_BTN() {
             LogUtil.info("按下复位按钮");
-            if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
+            if (!lastSuddenStop && IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
             {
                 Msg.add(crc.GetString(L.reset_press, "按下复位按钮."), MsgLevel.info, ErrInfo.ResetBtn);
             }
@@ -30,7 +31,7 @@ namespace DeviceLibrary
                 return;
             }
 
-            
+            lastSuddenStop = false;
             ProcessMsgEvent?.Invoke(Msg.get());
 
             //暂停时按下reaet按钮
@@ -40,7 +41,7 @@ namespace DeviceLibrary
             }
         }
         void Run_BTN() {
-            if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
+            if (!lastSuddenStop && IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
             {
                 if (!RobotManage.isRunning)
                     Msg.add(crc.GetString(L.runbtn_press, "按下启动按钮,开始启动."), MsgLevel.info, ErrInfo.RunBtn);
@@ -51,8 +52,14 @@ namespace DeviceLibrary
             {
                 Msg.add(crc.GetString(L.runbtn_press_with_sudden, "急停中,按下启动按钮,无法启动."), MsgLevel.warning);
             }
+            lastSuddenStop = false;
             LogUtil.info("按下启动按钮");
             ProcessMsgEvent?.Invoke(Msg.get());
         }
+        void SuddenStop_BTN()
+        {
+            lastSuddenStop = true;
+            RobotManage.Stop();
+        }
     }
 }

DeviceLibrary/theMachine/MainMachine.cs

@@ -184,6 +184,7 @@ namespace DeviceLibrary
             ConfigHelper.Config.Get("Device_Disable_StringDoor", false);
             AlarmBuzzer.SetOnOffAction(() => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
 
+            IOMonitor.RegisterIO(IO_Type.SuddenStop_BTN, Config, IO_VALUE.LOW, SuddenStop_BTN, 2500, 100);
             IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500, 100);
             IOMonitor.RegisterIO(IO_Type.AutoRun_Single, Config, IO_VALUE.HIGH, Run_BTN, 2500, 100);
             IOMonitor.RegisterIO(IO_Type.SafetyLightCurtains, Config, IO_VALUE.LOW, DeviceSuddenStop, 1, 1);
@@ -751,14 +752,17 @@ namespace DeviceLibrary
         {
             bool ok = true;
             isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
-            if (SafetyLightStop)
+
+            if (isInSuddenDown)
             {
+                Alarm(AlarmType.SuddenStop);
+                Msg.add(crc.GetString(L.in_suddenstop, "急停中"), MsgLevel.alarm);
                 DeviceSuddenStop();
                 lastSafeCheckStatus = false;
-                Msg.add(crc.GetString(L.SafetyLight_is_block, "安全光栅被遮挡"), MsgLevel.warning);
-                return false;
+                ok = false;
+                return ok;
             }
-            if (UserPause)
+            else if (UserPause)
             {
                 Msg.add(crc.GetString(L.system_pause, "系统暂停"), MsgLevel.warning);
                 DeviceSuddenStop();
@@ -766,13 +770,12 @@ namespace DeviceLibrary
                 ok = false;
                 return ok;
             }
-            else if (isInSuddenDown)
+            else if (SafetyLightStop)
             {
-                Alarm(AlarmType.SuddenStop);
-                Msg.add(crc.GetString(L.in_suddenstop, "急停中"), MsgLevel.alarm);
                 DeviceSuddenStop();
                 lastSafeCheckStatus = false;
-                ok = false;
+                Msg.add(crc.GetString(L.SafetyLight_is_block, "安全光栅被遮挡"), MsgLevel.warning);
+                return false;
             }
             else if (alarmType != AlarmType.None)
             {