急停时解除所有门锁

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -19,6 +19,21 @@ namespace DeviceLibrary
         public bool PrintDoorOpen = false;
         void ioMonitor()
         {
+
+            if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+            {
+                //if (!PrintDoorOpen)
+                    IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
+                //if (!LeftDoorOpen)
+                    IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.LOW);
+                //if (!RightDoorOpen)
+                    IOMove(IO_Type.RightDoor_Lock, IO_VALUE.LOW);
+
+                LeftDoorOpen = true;
+                RightDoorOpen = true;
+                PrintDoorOpen = true;
+            }
+
             //if (!PrintDoorOpen && IOValue(IO_Type.PrinterDoor_Check).Equals(IO_VALUE.HIGH))
             //{
             //    IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.HIGH);

DeviceLibrary/theMachine/MainMachine.cs

@@ -130,6 +130,18 @@ namespace DeviceLibrary
             IOMonitor.RegisterIO(IO_Type.RightDoor_Check, Config, IO_VALUE.LOW, RightDoor_Close, 1500,100);
             IOMonitor.RegisterIO(IO_Type.LeftDoor_Check, Config, IO_VALUE.LOW, LeftDoor_Close, 1500,100);
             IOMonitor.RegisterIO(IO_Type.PrinterDoor_Check, Config, IO_VALUE.HIGH, PrinterDoor_Close, 1500,100);
+
+            IOMonitor.RegisterIO(IO_Type.SuddenStop_BTN, Config, IO_VALUE.LOW, () =>
+            {
+                IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
+                IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.LOW);
+                IOMove(IO_Type.RightDoor_Lock, IO_VALUE.LOW);
+
+                LeftDoorOpen = true;
+                RightDoorOpen = true;
+                PrintDoorOpen = true;
+            }, 1500, 100);
+
             LedProcessInit();
             IOMove(IO_Type.Fan,IO_VALUE.HIGH);
 
@@ -150,15 +162,27 @@ namespace DeviceLibrary
         }
         private void RightDoor_Close()
         {
-            IOMove(IO_Type.RightDoor_Lock, IO_VALUE.HIGH);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
+            {
+                IOMove(IO_Type.RightDoor_Lock, IO_VALUE.HIGH);
+                RightDoorOpen = true;
+            }
             RobotManage.mainMachine.NGInfoList = new List<ReelParam>();
         }
         private void LeftDoor_Close()
         {
-            IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.HIGH);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
+            {
+                IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.HIGH);
+                LeftDoorOpen = true;                
+            }
         }private void PrinterDoor_Close()
         {
-            IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.HIGH);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
+            {
+                IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.HIGH);
+                
+            }
         }
         private void Entry_Drawer_Close()
         {

DeviceLibrary/theMachine/RobotManage.cs

@@ -235,6 +235,16 @@ namespace DeviceLibrary
             {
                 mainMachine.Stop();
                 mainMachine.UserPause = false;
+                //if (mainMachine.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+                //{
+                //    mainMachine.IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
+                //    mainMachine.IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.LOW);
+                //    mainMachine.IOMove(IO_Type.RightDoor_Lock, IO_VALUE.LOW);
+
+                //    mainMachine.LeftDoorOpen = true;
+                //    mainMachine.RightDoorOpen = true;
+                //    mainMachine.PrintDoorOpen = true;
+                //}
             }
             isRunning = false;
         }