DoorControl.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_SA_BoxBean
{
Thread DoorRunMonitorThread;
int DoorAccSpeed = 0;
void InitDoorRunMonitor() {
DoorRunMonitorThread = new Thread(new ThreadStart(DoorRunMonitor));
DoorRunMonitorThread.Start();
GC.KeepAlive(DoorRunMonitorThread);
LogUtil.info(StoreName + "出料门运行监控开始");
if (Config.Door_Axis != null)
{
DoorAccSpeed = (int)(Config.DoorAxis_Run_Speed * 3);
}
}
bool DoorRunMonitorEnable = false;
public void OpenDoor(bool needwait = true)
{
if (DoorIsOpen())
return;
if (Config.Door_Axis != null)
{
CheckDoorState();
ACServerManager.RelMove(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue(),600000, Config.DoorAxis_Run_Speed, DoorAccSpeed, DoorAccSpeed);
LogUtil.info(StoreName + "出料门开门,速度: " + Config.DoorAxis_Run_Speed.ToString());
}
else
{
IOManager.IOMove(IO_Type.Door_Moto_Rev, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Door_Moto_Run, IO_VALUE.HIGH);
}
_doorRunState = 1;
DoorRunMonitorEnable = true;
if (needwait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
}
}
/// <summary>
/// 记录是否是因为开门打开的吹气
/// </summary>
bool openBlow = false;
public void CloseDoor(bool needwait = true)
{
if (DoorIsClose())
return;
if (Config.Door_Axis != null)
{
CheckDoorState();
//ACServerManager.SpeedMove(Config.Door_Axis.DeviceName,Config.Door_Axis.GetAxisValue(),-Config.DoorAxis_Run_Speed, DoorAccSpeed, DoorAccSpeed);
ACServerManager.RelMove(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue(), -600000, Config.DoorAxis_Run_Speed, DoorAccSpeed, DoorAccSpeed);
LogUtil.info(StoreName + "出料门关门,速度: -"+Config.DoorAxis_Run_Speed.ToString());
}
else
{
IOManager.IOMove(IO_Type.Door_Moto_Rev, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Door_Moto_Run, IO_VALUE.HIGH);
}
_doorRunState = -1;
DoorRunMonitorEnable = true;
if (needwait)
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
}
}
void CheckDoorState() {
for (int i = 0; i < 10; i++)
{
if (!ACServerManager.ServerOnStatus(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue()))
{
ACServerManager.AlarmClear(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
Thread.Sleep(100);
ACServerManager.ServoOn(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
}
else
break;
var isAlarm = HuichuanLibrary.HCBoardManager.GetAxisSts(Config.Door_Axis.GetAxisValue()).ALM == 1;
if (isAlarm)
{
ACServerManager.ServoOff(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
Thread.Sleep(100);
ACServerManager.AlarmClear(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
Thread.Sleep(100);
ACServerManager.ServoOn(Config.Door_Axis.DeviceName, Config.Door_Axis.GetAxisValue());
}
}
}
private bool DoorIsClose()
{
return IOManager.IOValue(IO_Type.Door_Down).Equals(IO_VALUE.HIGH);
}
private bool DoorIsOpen()
{
return IOManager.IOValue(IO_Type.Door_Up).Equals(IO_VALUE.HIGH);
}
void DoorStop(bool ResetState=true) {
if (Config.Door_Axis != null)
{
ACServerManager.SuddenStop(Config.Door_Axis);
LogUtil.info(StoreName + "出料门停止");
DoorRunMonitorEnable = false;
}
else
{
IOManager.IOMove(IO_Type.Door_Moto_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.Door_Moto_Rev, IO_VALUE.LOW);
}
if (ResetState)
_doorRunState = 0;
}
int _doorRunState = 0;
/// <summary>
///
/// </summary>
/// <returns>1:开门,-1:关门,0:不在运动</returns>
int DoorRunState() {
return _doorRunState;
if (Config.Door_Axis != null)
{
var b = HuichuanLibrary.HCBoardManager.GetAxisSts(Config.Door_Axis.GetAxisValue()).BUSY == 0;
if (b)
return 0;
var s=HuichuanLibrary.HCBoardManager.GetAxisPrfVel(Config.Door_Axis.GetAxisValue());
return s > 0 ? 1 : -1;
}
else
{
if (IOManager.DOValue(IO_Type.Door_Moto_Run).Equals(IO_VALUE.LOW))
return 0;
return IOManager.DOValue(IO_Type.Door_Moto_Rev).Equals(IO_VALUE.LOW) ? 1 : -1;
}
}
bool SafetyLightCurtains = false;
void DoorRunMonitor()
{
while (true) {
if (DoorRunMonitorEnable)
{
Thread.Sleep(5);
}
else {
//检测到门在运行立刻开始监控
if (DoorRunState()!=0) {
DoorRunMonitorEnable = true;
continue;
}
Thread.Sleep(200);
continue;
}
if (Config.Door_Axis==null && IOManager.IOValue(IO_Type.Motor_Error).Equals(IO_VALUE.HIGH)) {
SetWarnMsg(ResourceControl.WaitSingleTimeOut, "Motor_Error","Low");//1084
continue;
}
if (!SafetyLightCurtains && IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
DoorStop(false);
SafetyLightCurtains = true;
}
else if (SafetyLightCurtains && IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
SafetyLightCurtains = false;
if (DoorRunState() == 1)
{
OpenDoor();
}
else if (DoorRunState() == -1)
{
CloseDoor();
}
}
//开门检测
if (DoorRunState()==1 && IOManager.IOValue(IO_Type.Door_Up).Equals(IO_VALUE.HIGH))
{
DoorStop();
DoorRunMonitorEnable = false;
continue;
}
//关门检测
if (DoorRunState() == -1 && IOManager.IOValue(IO_Type.Door_Down).Equals(IO_VALUE.HIGH))
{
DoorStop();
DoorRunMonitorEnable = false;
continue;
}
}
}
}
}