优化io手动安全检测

DeviceLibrary/theMachine/MainMachine.cs

@@ -573,10 +573,9 @@ namespace DeviceLibrary
             else if (isInSuddenDown)
             {
                 Alarm(AlarmType.SuddenStop);
-                Msg.add(crc.GetString("Res0100", "急停中"), MsgLevel.alarm);
+                Msg.add(crc.GetString("Res0100", "急停中"), MsgLevel.alarm, ErrInfo.SuddenStop);
                 ok = false;
-            }
-            
+            }            
             else if (alarmType != AlarmType.None)
             {
                 //if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
@@ -590,7 +589,6 @@ namespace DeviceLibrary
                     ok = false;
                 }
             }
-
             if (ok && !AxisBean.RunMultiAxis(true, out string msg, AxisBean.List))
             {
                 ok = false;

TheMachine/Form1.cs

@@ -169,12 +169,7 @@ namespace TheMachine
             }).ContinueWith(delegate {
                 CylinderButton.IsSafe += () =>
                 {
-                    if(RobotManage.isRunning)
-                        return (false, "Safety interlock activated");
-
-                    if (!RobotManage.mainMachine.IsAllDoorClosed())
-                        return (false, "Safe door was not closed");
-                    return (true, "");
+                    return IOControls.IsSafe();
                 };
             });
 
@@ -434,25 +429,39 @@ namespace TheMachine
                 if (msg.errInfo == ErrInfo.X09_BoxNotDetect)
                 {
                     btn_IgnoreX09.Visible = true;
-                }else if (msg.errInfo == ErrInfo.X09_Clear)
+                }
+                else if (msg.errInfo == ErrInfo.X09_Clear)
                 {
                     btn_IgnoreX09.Visible = false;
                 }
                 else if (msg.errInfo == ErrInfo.LabelInPaste)
                 {
                     RobotManage.mainMachine.IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
-                    if (FrmAlarm.ShowAlarmDialog("Labeling Exceptions:" + "\r\n"+ msg.msgtxt) == DialogResult.OK)
-                    {                        
+                    if (FrmAlarm.ShowAlarmDialog("Labeling Exceptions:" + "\r\n" + msg.msgtxt) == DialogResult.OK)
+                    {
                         LogUtil.info("用户确认已处理");
                         //Setting_Init.Runtime_Step = Runtime_StepE.None;
                         RobotManage.UserPause(false);
                     }
-                    else {
+                    else
+                    {
 
                         btn_stop_Click(this, EventArgs.Empty);
                         LogUtil.info("用户取消处理,系统停止");
                     }
                 }
+                else if (msg.errInfo == ErrInfo.SuddenStop)
+                {
+                    Task.Run(() =>
+                    {
+                        LogUtil.info("急停触发停止");
+                        if (RobotManage.isRunning)
+                            this.Invoke((EventHandler)delegate
+                            {
+                                btn_stop_Click(this, EventArgs.Empty);
+                            });
+                    });
+                }
 
             }
             this.ResumeLayout(true);

TheMachine/IOControls.cs

@@ -141,14 +141,17 @@ namespace TheMachine
             RobotManage.mainMachine.RotateEquip.TurnRound();
         }
 
-        public (bool,string) IsSafe() {
+        public static (bool, string) IsSafe()
+        {
+            if (RobotManage.mainMachine.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+                return (false, "Emergency stop.");
+
             if (RobotManage.isRunning)
                 return (false, "Safety interlock activated");
 
             if (!RobotManage.mainMachine.IsAllDoorClosed())
                 return (false, "Safe door was not closed");
             return (true, "");
-
         }
 
         private void button9_Click(object sender, EventArgs e)