OHV/Dev/OHV/VehicleControlSystem/ControlLayer/Conveyor.cs

using System.Threading;
using GSG.NET.Concurrent;
using GSG.NET.Logging;
using GSG.NET.Utils;
using VehicleControlSystem.ControlLayer.IO;

namespace VehicleControlSystem.ControlLayer
{
    public class Conveyor
    {
        Logger logger = Logger.GetLogger();
        EzIO ezIO = null;

        public Conveyor(EzIO io)
        {
            this.ezIO = io;
        }

        public int OnOffConveyor( bool isOn, bool isLoad = false )
        {
            this.SetConveyorSpeed( isLoad ); //Load 시 속도를 조금 더 빠르게 하기 위해.

            if ( isLoad )
                this.ezIO.OutputOn( "OUT_CV_CWCCW" );
            else
                this.ezIO.OutputOff( "OUT_CV_CWCCW" );

            if ( isOn )
                this.ezIO.OutputOn( "OUT_CV_RUN" );
            else
                this.ezIO.OutputOff( "OUT_CV_RUN" );

            LockUtils.Wait(500);

            if (this.IsInverterError())
            {
                this.ezIO.OutputOff("OUT_CV_RUN");
                return 16;
            }
                

            return 0;
        }

        public void SetConveyorSpeed( bool IsLoad )
        {
            if ( IsLoad )
                this.ezIO.WriteOutputIO( "OUT_CV_DA", true );
            else
                this.ezIO.WriteOutputIO( "OUT_CV_DA", false );
        }

        public bool IsCvRun() => this.ezIO.IsOn( "OUT_CV_RUN" );
        public bool IsCvCWCCW() => this.ezIO.IsOn( "OUT_CV_CWCCW" );

        /// <summary>
        /// 입구 감지 로딩시 감속 사용
        /// </summary>
        /// <returns></returns>
        public bool IsDetectedLoadStart() => this.ezIO.IsOn( "IN_CV_DETECT_00" );

        /// <summary>
        /// 실물 감지
        /// </summary>
        /// <returns></returns>
        public bool IsDetectedCenter() => this.ezIO.IsOn( "IN_CV_DETECT_01" );

        public bool IsDetectedLoadStop() => this.ezIO.IsOn( "IN_CV_DETECT_02" );
        public bool IsInverterError() => !this.ezIO.IsOn( "IN_CV_ERROR" ); //Normal Close 로 생각 됨.
        public bool IsLifterPositinCheck() => this.ezIO.IsOn( "IN_LIFTER_POSITION_DETECT" );
        public bool IsLifterDuplication() => this.ezIO.IsOn( "IN_LIFTER_DUPLICATION_DETECT" );
        public bool IsPIOInterLockOn() => this.ezIO.IsOn( "IN_PIO_INTERLOCK" );

        public int ConveyorLoad()
        {
            if ( IsDetectedCenter() )
                return 9;

            logger.D( "[Manual Load] - Conveyor On" );
            OnOffConveyor( true, true );

            bool isStartDetected = false;
            long sTime = SwUtils.CurrentTimeMillis;
            while ( true )
            {
                if ( SwUtils.Gt( sTime, 20 * ConstUtils.ONE_SECOND ) ) //Wait 20Sec
                {
                    OnOffConveyor( false, true );
                    return 10;
                }

                if ( this.IsDetectedLoadStart() && !isStartDetected )
                    isStartDetected = true;

                if ( !this.IsDetectedLoadStart() && isStartDetected )
                {
                    //this.SetConveyorSpeed( false );
                    logger.D( "[Manual Load] - Conveyor Slow State" );
                }

                if ( IsDetectedLoadStop() )
                    break;
            }
            OnOffConveyor( false );

            logger.D( "[Manual Load] - Conveyor Off" );

            return 0;
        }

        public int ConveyorUnload()
        {
            if ( !IsDetectedCenter() )
                return 11;

            logger.D( "[Manual Unload] - Conveyor On" );
            OnOffConveyor( true, false );

            long sTime = SwUtils.CurrentTimeMillis;
            while ( true )
            {
                if ( SwUtils.Gt( sTime, 20 * ConstUtils.ONE_SECOND ) ) //Wait 20Sec
                {
                    OnOffConveyor( false, false );
                    return 12;
                }

                if ( !IsDetectedLoadStart() && !IsDetectedCenter() )
                    break;
            }
            Thread.Sleep( 2000 );
            OnOffConveyor( false );

            logger.D( "[Manual Unload] - Conveyor Off" );

            return 0;
        }

    }
}