RealSys.MotionPlat/Rs.MotionPlat/Flow/MonitorSystemButton.cs

using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow
{
    public enum EMonitorButtonStep
    {
        Monitoring,//监控中
        EStopButtonPressed,//急停按钮按下
        EStopButtonUp,//急停按钮抬起
        StartButtonPressed,//启动按钮按下
        StartButtonUp,//启动按钮抬起
        ResetButtonPressed,//复位按钮按下
        ResetButtonUp,//复位按钮抬起
        StopButtonPressed,//停止按钮按下
        StopButtonUp,//停止按钮抬起,
        DoorOpend,//门被打开,
        LightButtonPressed,//照明被按下
        LightButtonUp//照明被抬起
    }

    public enum ESystemButton
    {
        None,
        EStopPressed=1,
        StartPressed = 2,
        StopPressed = 4,
        ResetPressed = 8,
        EStopUp = 16,
        StartUp = 32,
        StopUp= 64,
        ResetUp = 128
    }


    /// <summary>
    /// 系统按钮监控
    /// </summary>
    public class MonitorSystemButton:BaseFlow
    {
        private ESystemButton buttonValue = ESystemButton.None;
        EMonitorButtonStep step = EMonitorButtonStep.Monitoring;
        private static MonitorSystemButton instance;
        private short signalValue = 0;
        public static MonitorSystemButton Instance
        {
            get
            {
                if(instance==null)
                {
                    instance = new MonitorSystemButton();
                }
                return instance;
            }
        }

        public void ButtonPressed(ESystemButton button)
        {
            buttonValue=button;
        }

        private MonitorSystemButton() {
            sleepTime = 50;
            stopWaitTime = 100;
            FlowName = "系统按钮监控";
        }

        /*
         
         0010
         0001 & 0001
        0010 & 
         */
        public override void Run()
        {
            switch (step)
            {
                case EMonitorButtonStep.Monitoring:
                    signalValue = IoManager.Instance.ReadIn("前急停");
                    if(signalValue==0 || (buttonValue == ESystemButton.EStopPressed))
                    {
                        step = EMonitorButtonStep.EStopButtonPressed;
                        break;
                    }
                    signalValue = IoManager.Instance.ReadIn("后急停");
                    if (signalValue == 0 || (buttonValue == ESystemButton.EStopPressed))
                    {
                        step = EMonitorButtonStep.EStopButtonPressed;
                        break;
                    }
                    signalValue = IoManager.Instance.ReadIn("启动");
                    if (signalValue == 1 || (buttonValue == ESystemButton.StartPressed))
                    {
                        step = EMonitorButtonStep.StartButtonPressed;
                        break;
                    }
                    signalValue = IoManager.Instance.ReadIn("停止");
                    if (signalValue == 1 || (buttonValue == ESystemButton.StopPressed))
                    {
                        step = EMonitorButtonStep.StopButtonPressed;
                        break;
                    }
                    signalValue = IoManager.Instance.ReadIn("复位");
                    //if (signalValue == 1 || (buttonValue == ESystemButton.ResetPressed))
                    if ((buttonValue == ESystemButton.ResetPressed))
                    {
                        step = EMonitorButtonStep.ResetButtonPressed;
                        break;
                    }
                    signalValue = IoManager.Instance.ReadIn("光栅门禁开关");
                    if(signalValue==0 && MachineManage.Instance.MachineStatus== EMachineStatus.Working)
                    {
                        step = EMonitorButtonStep.DoorOpend;
                        break;
                    }

                    signalValue = IoManager.Instance.ReadIn("照明");
                    if (signalValue == 1)
                    {
                        step = EMonitorButtonStep.LightButtonPressed;
                        break;
                    }
                    break;
                case EMonitorButtonStep.EStopButtonPressed:
                    MessageQueue.Instance.Insert("急停按钮按下");
                    MachineManage.Instance.NeedRestoreMove = false;
                    AxisControl.AllDisable();
                    WorkFlow.Instance.Stop();
                    TurnoverFlow.Instance.Stop();
                    AxisControl.AllAbortHome();
                    HomeFlow.Instance.CancleHome();
                    MachineManage.Instance.MachineStatus = EMachineStatus.EStop;
                    step = EMonitorButtonStep.EStopButtonUp;
                    break;
                case EMonitorButtonStep.EStopButtonUp:
                    signalValue = IoManager.Instance.ReadIn("前急停");
                    if (((IoManager.Instance.ReadIn("前急停") == 1)&& ((IoManager.Instance.ReadIn("后急停") == 1))) || (buttonValue == ESystemButton.ResetPressed))
                    {
                        buttonValue = ESystemButton.None;
                        //AxisManager.AllEnable();
                        MachineManage.Instance.MachineStatus = EMachineStatus.NotHomed;
                        MessageQueue.Instance.Insert("急停按钮抬起");
                        step = EMonitorButtonStep.Monitoring;
                    }
                    break;
                case EMonitorButtonStep.StartButtonPressed:
                    MessageQueue.Instance.Insert("启动按钮被按下");
                    if (MachineManage.Instance.MachineStatus== EMachineStatus.Stop 
                        || MachineManage.Instance.MachineStatus== EMachineStatus.Homed)
                    {
                        if(MachineManage.Instance.NeedRestoreMove)
                        {
                            MachineManage.Instance.NeedRestoreMove = false;
                            //WorkFlow.Instance.Restore();
                            Thread.Sleep(100);
                        }
                        WorkFlow.Instance.Start();
                        MachineManage.Instance.MachineStatus = EMachineStatus.Working;
                        LightManger.Instance.SetStatus(ELightStatus.Green);
                    }
                    else
                    {
                        MessageQueue.Instance.Insert($"设备在{MachineManage.Instance.MachineStatus}状态，无法启动！");
                    }
                    step = EMonitorButtonStep.StartButtonUp;
                    break;
                case EMonitorButtonStep.StartButtonUp:
                    signalValue = IoManager.Instance.ReadIn("启动");
                    if (signalValue == 0 || (buttonValue == ESystemButton.StartUp))
                    {
                        buttonValue = ESystemButton.None;
                        MessageQueue.Instance.Insert("启动按钮被抬起");
                        step = EMonitorButtonStep.Monitoring;
                    }
                    break;
                case EMonitorButtonStep.ResetButtonPressed:
                    //MessageQueue.Instance.Insert("复位按钮被按下");
                    if (MachineManage.Instance.MachineStatus == EMachineStatus.NotInit
                        || MachineManage.Instance.MachineStatus == EMachineStatus.NotHomed)
                    {
                        HomeFlow.Instance.StartGoHome();
                    }
                    step = EMonitorButtonStep.ResetButtonUp;
                    break;
                case EMonitorButtonStep.ResetButtonUp:
                  //signalValue = IoManager.Instance.ReadIn("复位");
                    if ((buttonValue == ESystemButton.ResetUp))
                    {
                        buttonValue = ESystemButton.None;
                        //MessageQueue.Instance.Insert("复位按钮抬起");
                        step = EMonitorButtonStep.Monitoring;
                    }
                    break;
                case EMonitorButtonStep.StopButtonPressed:
                    MessageQueue.Instance.Insert("停止按钮被按下");
                    if (MachineManage.Instance.MachineStatus== EMachineStatus.Working
                        || MachineManage.Instance.MachineStatus== EMachineStatus.Homing)
                    {
                        if (MachineManage.Instance.MachineStatus == EMachineStatus.Homing)
                        {
                            HomeFlow.Instance.CancleHome();
                            MachineManage.Instance.MachineStatus = EMachineStatus.NotHomed;
                        }
                        else
                        {
                            WorkFlow.Instance.Stop();
                            MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
                        }
                        LightManger.Instance.SetStatus(ELightStatus.Yellow);
                    }
                    step = EMonitorButtonStep.StopButtonUp;
                    break;
                case EMonitorButtonStep.StopButtonUp:
                    signalValue = IoManager.Instance.ReadIn("停止");
                    if (signalValue == 0 || (buttonValue == ESystemButton.StopUp))
                    {
                        buttonValue = ESystemButton.None;
                        MessageQueue.Instance.Insert("停止按钮抬起");
                        step = EMonitorButtonStep.Monitoring;
                    }
                    break;
                case EMonitorButtonStep.DoorOpend:
                    //AxisManager.AllStop();
                    WorkFlow.Instance.Stop();
                    MachineManage.Instance.NeedRestoreMove = true;
                    MachineManage.Instance.MachineStatus= EMachineStatus.Stop;
                    MessageQueue.Instance.Insert("光栅门禁被触发");
                    step = EMonitorButtonStep.Monitoring;
                    break;
                case EMonitorButtonStep.LightButtonPressed:
                    if(Ops.IsOutOn("照明灯"))
                    {
                        Ops.Off("照明灯");
                    }
                    else
                    {
                        Ops.On("照明灯");
                    }
                    step = EMonitorButtonStep.LightButtonUp;
                    break;
                case EMonitorButtonStep.LightButtonUp:
                    if(Ops.IsOff("照明"))
                    {
                        step = EMonitorButtonStep.Monitoring;
                    }
                    break;
                default:
                    break;
            }
            Thread.Sleep(50);
        }
    }
}