1

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -9,7 +9,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    public class LiftMonitor :ISafetyDevice
+    public class LiftMonitor : ISafetyDevice
     {
         string up;
         string down;
@@ -18,20 +18,26 @@ namespace DeviceLibrary
         int upspeed;
         int downspeed;
         int StrokeLength = 270000;
-        public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _upspeed, int _downspeed= 0) {
+        bool paused = false;
+        public LiftMonitor(string _up, string _down, string _break, AxisBean _axisBean, int _StrokeLength, int _upspeed, int _downspeed = 0)
+        {
             up = _up;
             down = _down;
             axisBean = _axisBean;
             upspeed = _upspeed;
             axisbreak = _break;
             downspeed = _downspeed;
-            if (downspeed == 0) {
+            StrokeLength = _StrokeLength;
+            if (downspeed == 0)
+            {
                 downspeed = upspeed;
             }
             SafetyDevice.AddDevice(this);
         }
-        public bool isAtTOP {
-            get {
+        public bool isAtTOP
+        {
+            get
+            {
                 return IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH);
             }
         }
@@ -42,27 +48,57 @@ namespace DeviceLibrary
                 return IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH);
             }
         }
-        public void LiftUp(MoveInfo moveInfo) {
+        public void LiftUp(MoveInfo moveInfo)
+        {
 
             if (moveInfo == null)
-                moveInfo = new MoveInfo("界面",false);
-            if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
+                moveInfo = new MoveInfo("界面", false);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+            {
+                moveInfo.log($"急停未解除");
+                return;
+            }
+            paused = false;
+            if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
+            {
                 moveInfo.log($"{axisBean.AxisName},已在位置,无需上升");
                 return;
             }
-            IOManager.IOMove(axisbreak,IO_VALUE.HIGH);
+            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, (double)upspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftUp");
-            if(moveInfo!=null)
+            if (moveInfo != null)
                 moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升"));
-            Task.Run(()=> {
-                while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
+            Task.Run(() => {
+                while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
+                {
                     Task.Delay(30);
+                    if (paused)
+                    {
+                        paused = false;
+                        return;
+                    }
+                    if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+                    {
+                        LogUtil.info("设备急停");
+                        Pause();
+                        return;
+                    }
                 }
                 axisBean.SuddenStop();
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                    axisBean.ServoOff();
+                }
+
                 var t = (DateTime.Now - d).TotalSeconds;
                 moveInfo.log($"{axisBean.AxisName},上升到位,s:{t}");
             });
@@ -72,12 +108,19 @@ namespace DeviceLibrary
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
+
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                    axisBean.ServoOff();
+                }
                 return true;
             }
 
-            if (!axisBean.IsBusy) {
-                axisBean.RelMove(StrokeLength, (double)upspeed);
+            if (!axisBean.IsBusy)
+            {
+                LogUtil.info("恢复继续上升");
+                LiftUp(null);
             }
             return false;
         }
@@ -85,13 +128,24 @@ namespace DeviceLibrary
         {
             if (moveInfo == null)
                 moveInfo = new MoveInfo("界面", false);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+            {
+                moveInfo.log($"急停未解除");
+                return;
+            }
+            paused = false;
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
                 moveInfo.log($"{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, (double)downspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftDown");
@@ -102,9 +156,24 @@ namespace DeviceLibrary
                 while (!IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
                 {
                     Task.Delay(30);
+                    if (paused)
+                    {
+                        paused = false;
+                        return;
+                    }
+                    if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+                    {
+                        LogUtil.info("设备急停");
+                        Pause();
+                        return;
+                    }
                 }
                 axisBean.SuddenStop();
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                    axisBean.ServoOff();
+                }
                 var t = (DateTime.Now - d).TotalSeconds;
                 moveInfo.log($"{axisBean.AxisName},下降到位,s:{t}");
             });
@@ -114,25 +183,38 @@ namespace DeviceLibrary
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
+
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
                     IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                    axisBean.ServoOff();
+                }
                 return true;
             }
 
             if (!axisBean.IsBusy)
             {
-                axisBean.RelMove(-StrokeLength, (double)downspeed);
+                LogUtil.info("恢复继续下降");
+                LiftDown(null);
             }
             return false;
         }
 
         public void Pause()
         {
+            paused = true;
             axisBean.SuddenStop();
+            if (!string.IsNullOrEmpty(axisbreak))
+            {
+                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                axisBean.ServoOff();
+            }
+
         }
 
         public void Resume()
         {
-           // throw new NotImplementedException();
+            //throw new NotImplementedException();
         }
     }
 }