public override void ChangeMovingDirection(EnumMovingDirection newDirection)
{
if (Config.Type == EnumSafetySensorType.AreaSensor && newDirection != movingDirection)
{
if (Config.AreaSensorChangeDircetionInputIOList.ContainsKey(newDirection))
{
if (!mipcControl.SendMIPCDataByMIPCTagName(Config.MIPCTagNmaeInput, Config.AreaSensorChangeDircetionInputIOList[newDirection]))
{
WriteLog(5, "", String.Concat("Device : ", Config.Device, " 切換移動方向 : ", newDirection.ToString(), " 失敗, 進行retry"));
if (!mipcControl.SendMIPCDataByMIPCTagName(Config.MIPCTagNmaeInput, Config.AreaSensorChangeDircetionInputIOList[newDirection]))
{
WriteLog(5, "", String.Concat("Device : ", Config.Device, " 切換移動方向 : ", newDirection.ToString(), " retry失敗, ErrorBit on : "));
}
else
{
WriteLog(5, "", String.Concat("Device : ", Config.Device, " 切換移動方向 : ", newDirection.ToString(), " retry成功"));
movingDirection = newDirection;
}
}
else
{
movingDirection = newDirection;
}
}
else
{
WriteLog(3, "", String.Concat("Device : ", Config.Device, " Config 中並未定義移動方向 : ", newDirection.ToString(), " 的切換方式"));
}
}
}
public void UpdateAllSafetySensor()
{
#region SafetySensor區域設定.
EnumMovingDirection tempDirection = localData.MIPCData.MoveControlDirection;
switch (tempDirection)
{
case EnumMovingDirection.Front:
if (localData.MIPCData.BypassFront)
{
tempDirection = EnumMovingDirection.None;
}
break;
case EnumMovingDirection.Back:
if (localData.MIPCData.BypassBack)
{
tempDirection = EnumMovingDirection.None;
}
break;
case EnumMovingDirection.Left:
if (localData.MIPCData.BypassLeft)
{
tempDirection = EnumMovingDirection.None;
}
break;
case EnumMovingDirection.Right:
if (localData.MIPCData.BypassRight)
{
tempDirection = EnumMovingDirection.None;
}
break;
case EnumMovingDirection.FrontLeft:
if (localData.MIPCData.BypassFront && localData.MIPCData.BypassLeft)
{
tempDirection = EnumMovingDirection.None;
}
else if (localData.MIPCData.BypassFront)
{
tempDirection = EnumMovingDirection.Left;
}
else if (localData.MIPCData.BypassLeft)
{
tempDirection = EnumMovingDirection.Front;
}
break;
case EnumMovingDirection.FrontRight:
if (localData.MIPCData.BypassFront && localData.MIPCData.BypassRight)
{
tempDirection = EnumMovingDirection.None;
}
else if (localData.MIPCData.BypassFront)
{
tempDirection = EnumMovingDirection.Right;
}
else if (localData.MIPCData.BypassRight)
{
tempDirection = EnumMovingDirection.Front;
}
break;
case EnumMovingDirection.BackLeft:
if (localData.MIPCData.BypassBack && localData.MIPCData.BypassLeft)
{
tempDirection = EnumMovingDirection.None;
}
else if (localData.MIPCData.BypassBack)
{
tempDirection = EnumMovingDirection.Left;
}
else if (localData.MIPCData.BypassLeft)
{
tempDirection = EnumMovingDirection.Back;
}
break;
case EnumMovingDirection.BackRight:
if (localData.MIPCData.BypassBack && localData.MIPCData.BypassRight)
{
tempDirection = EnumMovingDirection.None;
}
else if (localData.MIPCData.BypassBack)
{
tempDirection = EnumMovingDirection.Right;
}
else if (localData.MIPCData.BypassRight)
{
tempDirection = EnumMovingDirection.Back;
}
break;
default:
break;
}
if (tempDirection != lastDirection)
{
WriteLog(7, "", String.Concat("MovingDirection : ", lastDirection.ToString(), " change to ", tempDirection.ToString()));
for (int i = 0; i < AllSafetySensor.Count; i++)
{
AllSafetySensor[i].ChangeMovingDirection(lastDirection);
}
lastDirection = tempDirection;
}
#endregion
uint tempStatus = 0;
for (int i = 0; i < AllSafetySensor.Count; i++)
{
AllSafetySensor[i].UpdateStatus();
tempStatus = tempStatus | AllSafetySensor[i].Status;
}
AllStatus = tempStatus;
EnumSafetyLevel newLevel = EnumSafetyLevel.Normal;
for (int i = safetyLevelCount - 1; i >= 0; i--)
{
if ((tempStatus & (1 << i)) != 0 && ((EnumSafetyLevel)i) != EnumSafetyLevel.Warn)
{
newLevel = ((EnumSafetyLevel)i);
break;
}
}
if (newLevel != localData.MIPCData.safetySensorStatus)
{
if (newLevel == EnumSafetyLevel.IPCEMO)
{
WriteLog(7, "", String.Concat("動力電斷電"));
mipcControl.SendMIPCDataByIPCTagName(new List <EnumMecanumIPCdefaultTag>()
{
EnumMecanumIPCdefaultTag.MIPCReady
}, new List <float>()
{
0
});
}
WriteLog(7, "", String.Concat("safetySensorStatus 從 ", localData.MIPCData.safetySensorStatus.ToString(), " 切換至 ", newLevel.ToString()));
localData.MIPCData.SafetySensorStatus = newLevel;
}
}
public virtual void ChangeMovingDirection(EnumMovingDirection newDirection)
{
}
