添加板卡监听的输入数据配置

xcd

2020-07-11 0ec82ee227c69197abc85dd828f5239d6323a051

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -21,7 +21,7 @@
    public class GTSCardDriver : MotionCardBase
    {
        // 异常事件
        public Action<Exception> OnExceptionRaised;
        //public Action<Exception> OnExceptionRaised;

        public GTSCardInitialConfig IIConfig
        {
@@ -38,11 +38,16 @@
        bool _isResetting = false;

        /// <summary>
        /// 是否暂停中
        /// </summary>
        bool _isPause = false;

        /// <summary>
        /// 运动轴立即暂停
        /// </summary>
        Dictionary<int, ManualResetEvent> axisImmediatePauseHandleDict = new Dictionary<int, ManualResetEvent>();

        Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();
        //Dictionary<int, CancellationTokenSource> axisMoveCancelDict = new Dictionary<int, CancellationTokenSource>();

        public void SetResetFlag(bool isReset)
        {
@@ -51,7 +56,17 @@

        public override List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
        {
            throw new NotImplementedException();
            List<AxisInfo> axisInfos = new List<AxisInfo>();
            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisSetting =>
            {
                AxisInfo axisInfo = new AxisInfo();
                axisInfo.AxisName = axisSetting.AxisName;
                var axisMovingStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
                axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);

                axisInfos.Add(axisInfo);
            });
            return axisInfos;
        }

        #region DeviceBase
@@ -59,16 +74,15 @@
        protected override void Init()
        {
            InitialMotionCard();
            axisImmediatePauseHandleDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
            axisMoveCancelDict = IConfig.AxisSettings.ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());
            axisImmediatePauseHandleDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
            //axisMoveCancelDict = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ToDictionary(a => a.AxisIndex, a => new CancellationTokenSource());

            axisMoveCancelDict.Values.ToList().ForEach(c =>
            {
                c = new CancellationTokenSource();
            });
            //axisMoveCancelDict.Values.ToList().ForEach(c =>
            //{
            //    c = new CancellationTokenSource();
            //});
        }

        ManualResetEvent _pauseHandle = new ManualResetEvent(true);
        protected override void Pause()
        {

@@ -100,7 +114,6 @@
            ResponseMessage responseMessage = new ResponseMessage();
            if (config is MotionCardOperationConfigBase motionCardOperationConfig)
            {
                _pauseHandle.WaitOne();
                foreach (var operationSet in motionCardOperationConfig.OperationCollection)
                {
                    responseMessage = RunOperationSet(operationSet);
@@ -149,7 +162,7 @@
            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
                responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
                if (!responseMessage.Result)
                {
                    return responseMessage;
@@ -207,19 +220,19 @@
        /// <summary>
        /// 启动立即暂停
        /// </summary>
        public void SetImmediatePause()
        public override void SetImmediatePause()
        {
            if (!_isResetting)
            {
                var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();
                var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

                immediatePauseAxis.ForEach(async axisIndex =>
                {
                    axisImmediatePauseHandleDict[axisIndex].Reset();

                    axisMoveCancelDict[axisIndex].Cancel();
                    //axisMoveCancelDict[axisIndex].Cancel();

                    await MoveStop(axisIndex, 0);
                    await MoveStop(axisIndex, 0);//所有轴都暂停
                });
            }
        }
@@ -227,13 +240,13 @@
        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public void ResetImmediatePause()
        public override void ResetImmediatePause()
        {
            var immediatePauseAxis = IConfig.AxisSettings.Where(u => u.IsImmediatePause).Select(u => u.AxisIndex).ToList();
            var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

            immediatePauseAxis.ForEach(axisIndex =>
            {
                axisMoveCancelDict[axisIndex] = new CancellationTokenSource();
                //axisMoveCancelDict[axisIndex] = new CancellationTokenSource();

                axisImmediatePauseHandleDict[axisIndex].Set();
            });
@@ -251,7 +264,7 @@
        {
            var res = GTSCardAPI.GT_Open((short)IConfig.CardNum, 0, 1); //打开运动控制器。参数必须为（0,1），不能修改。     
            res += GTSCardAPI.GT_LoadConfig((short)IConfig.CardNum, IConfig.InitialConfigFilePath);
            res += GTSCardAPI.GT_ClrSts(0, 1, 8);
            ClearStatus(1, IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
            if (res != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("板卡载入配置文件异常，错误码：" + res);
@@ -259,13 +272,13 @@
        }


        public bool AllAxisOn()
        public override bool AllAxisOn()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴开启
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
            {
                var task = AxisOnAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                var task = AxisOnAsync(axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
@@ -273,13 +286,13 @@
            return resultOK;
        }

        public bool AllAxisOff()
        public override bool AllAxisOff()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
            // 如果是多个轴的运动 等每个轴关闭
            IConfig.AxisSettings.Where(a => a.IsAxisEnabled).ToList().ForEach(axisNum =>
            IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled).ForEach(axisNum =>
            {
                var task = AxisOffAsync((short)IConfig.CardNum, (short)axisNum.AxisIndex);
                var task = AxisOffAsync(axisNum.AxisIndex);
                taskList.Add(task);
            });
            Task.WaitAll(taskList.ToArray());
@@ -291,11 +304,11 @@
        /// 单个轴开启
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOnAsync(short cardNum, short axisNum)
        public override async Task<bool> AxisOnAsync(int axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOn(cardNum, axisNum);
                var ret = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }
@@ -304,11 +317,11 @@
        /// 单个轴关闭
        /// </summary>
        /// <returns></returns>
        public async Task<bool> AxisOffAsync(short cardNum, short axisNum)
        public override async Task<bool> AxisOffAsync(int axisNum)
        {
            return await Task.Run(() =>
            {
                var ret = GTSCardAPI.GT_AxisOff(cardNum, axisNum);
                var ret = GTSCardAPI.GT_AxisOff((short)IConfig.CardNum, (short)axisNum);
                return ret == (short)GTSRetCode.GRCRunOK;
            });
        }
@@ -323,7 +336,6 @@
            ResponseMessage responseMessage = new ResponseMessage();
            if (opConfig is MotionOperationCollection gtsOperationCollection)
            {
                _pauseHandle.WaitOne();
                List<Task<bool>> taskList = new List<Task<bool>>();
                foreach (var movingOp in gtsOperationCollection.MovingOps)
                {
@@ -350,14 +362,15 @@
        {
            List<short> resultCode = new List<short>() { 0 };
            GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
            resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)optionPara.AxisIndex));
            resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, out trapprm));
            short axisIndex = short.Parse(optionPara.AxisIndexStr);
            resultCode.Add(GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, axisIndex));
            resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
            trapprm.smoothTime = 1;
            trapprm.acc = optionPara.VelocityPara.Acc != 0 ? optionPara.VelocityPara.Acc : 1;
            trapprm.dec = optionPara.VelocityPara.Dec != 0 ? optionPara.VelocityPara.Dec : 1;

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)optionPara.AxisIndex, ref trapprm));
            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)optionPara.AxisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));
            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
            resultCode.Add(GTSCardAPI.GT_SetVel((short)IConfig.CardNum, axisIndex, optionPara.VelocityPara.Velocity * IConfig.AxisVelocityRatio));

            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
            if (!resultOK)
@@ -371,17 +384,16 @@
        /// 单个轴 运动(点到点 jog 回零...）
        /// </summary>
        /// <param name="optionPara">运动参数对象</param>
        public async Task<bool> SingleAxisMoving(MovingOption optionPara)
        public override async Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return await Task.Run(() =>
            {
                axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
                bool isSuccessAndStop = false;
                try
                {
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    {
                        axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                        string _position = "";
                        string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

@@ -447,7 +459,8 @@
            {
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
            }
            position = prfpos / IConfig.AxisVelocityRatio;
            var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
            position = prfpos / AxisRatio;
            return position;
        }

@@ -467,7 +480,8 @@
                {
                    throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);
                }
                position = pPos / IConfig.AxisVelocityRatio;
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == axisNum).AxisRatio;
                position = pPos / AxisRatio;
                return position;
            }
        }
@@ -476,7 +490,7 @@
        /// 获取规划速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        /// <returns>速度脉冲</returns>
        public double GetPrfVelocity(int axisNum)
        {
            double prfVel = 0;
@@ -486,7 +500,6 @@
            {
                throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
            }
            prfVel = prfVel / IConfig.AxisVelocityRatio;
            return prfVel;
        }

@@ -494,7 +507,7 @@
        /// 获取当前速度
        /// </summary>
        /// <param name="axisNum">Axis number</param>
        /// <returns></returns>
        /// <returns>速度脉冲</returns>
        public double GetVelocity(int axisNum)
        {
            double vel = 0;
@@ -503,7 +516,6 @@
            {
                throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
            }
            vel = vel / IConfig.AxisVelocityRatio;
            return vel;
        }

@@ -542,7 +554,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -588,11 +600,12 @@
                int currentPosition = (int)GetPosition(optionPara.AxisIndex);
                int dPosition = optionPara.Destination + currentPosition;
                int timeout = optionPara.MovingTimeout;
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
                while (CurrentState == DeviceState.DSOpen)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * IConfig.AxisVelocityRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -622,7 +635,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -663,11 +676,12 @@
                short ret = 0;
                bool isSuccessSetAxisParam = false;
                int timeout = optionPara.MovingTimeout;
                while (CurrentState == DeviceState.DSOpen)
                var AxisRatio = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex) == null ? 1 : IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == optionPara.AxisIndex).AxisRatio;
                while (CurrentState == DeviceState.DSOpen && !_isPause)
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * IConfig.AxisVelocityRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_SetPrfPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 设置规划位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -684,19 +698,19 @@

                bool isStop = false;
                repeatTime = 1000;
                do
                while (!isStop && repeatTime > 0)
                {
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
                }

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -707,7 +721,7 @@
        /// <param name="axisNum">axisNo</param>
        /// <param name="option">0表示平滑停止，1表示紧急停止</param>
        /// <returns></returns>
        public async Task<bool> MoveStop(int axisNum, int option)
        public override async Task<bool> MoveStop(int axisNum, int option)
        {
            return await Task.Run(() =>
            {
@@ -766,7 +780,7 @@
        {
            try
            {
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                PositionReset(movingOption.AxisIndex, 1);
                GTSCardAPI.THomePrm thomeprm;
                GTSCardAPI.THomeStatus homests;
                short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
@@ -793,7 +807,7 @@
                    if (isStop && homests.error == 0)
                    {
                        Thread.Sleep(200);
                        GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                        PositionReset(movingOption.AxisIndex, 1);
                    }
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
@@ -803,7 +817,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -843,7 +857,7 @@
        /// <param name="value">false表示输出，true表示关闭</param>
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100 + 1);
            short outNum = (short)(index % 100);
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
@@ -863,7 +877,7 @@
        /// <returns></returns>
        public bool IsStop(short axisNum)
        {
            int sts = GetAxisStatus(axisNum);
            int sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisNum).AxisStatus;
            if ((sts & 0x400) == 0) return true;//停止返回true
            else return false;              //运行中返回false
        }
@@ -871,10 +885,9 @@
        /// <summary>
        /// 读取轴状态
        /// </summary>
        /// <param name="cardNum">板卡号</param>
        /// <param name="axisNum">轴号</param>
        /// <returns></returns>
        public int GetAxisStatus(int axisNum)
        public override int GetAxisStatus(int axisNum)
        {
            lock (moveLock)
            {
@@ -884,6 +897,28 @@
                return sts;
            }
        }

        public override bool ClearStatus(int startAxisIndex, int count)
        {
            var rtn = GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
            return rtn == (short)GTSRetCode.GRCRunOK;
        }

        /// <summary>
        /// 位置回零
        /// </summary>
        /// <param name="startAxisIndex"></param>
        /// <param name="count"></param>
        /// <returns></returns>
        public override bool PositionReset(int startAxisIndex, int count)
        {
            lock (moveLock)
            {
                var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
                return rtn == (short)GTSRetCode.GRCRunOK;
            }
        }

        #endregion

        #region IMonitor
@@ -952,8 +987,10 @@
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

                        var newValues = GetMonitorValues();
                        var newAxisMovingStatus = GetAxisMovingStatus();

                        if (newValues == null || newValues.Count == 0 || newAxisMovingStatus == null || newAxisMovingStatus.Count == 0)
                            continue;

@@ -961,12 +998,21 @@
                        sw.Start();
                        if (MonitorValues.Count == newValues.Count)
                        {
                            var tempNew = newValues.DeepSerializeClone();//clone
                            var tempOld = MonitorValues.DeepSerializeClone();
                            //var tempNew = newValues.DeepSerializeClone();//clone
                            //var tempOld = MonitorValues.DeepSerializeClone();
                            var tempNew = new List<IOItem>(newValues);//clone
                            var tempOld = new List<IOItem>(MonitorValues);
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

                        AxisMovingOptionValues = new List<AxisMovingStatus>(newAxisMovingStatus);
                        if (AxisStatusList.Count == newAxisMovingStatus.Count)
                        {
                            var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
                            var tempOld = new List<AxisMovingStatus>(AxisStatusList);
                            AxisStatusCheck(tempNew, tempOld);
                        }

                        AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
                        MonitorValues = new List<IOItem>(newValues);
                        sw.Stop();

@@ -992,29 +1038,52 @@
            });
        }

        private async void AxisStatusCheck(List<AxisMovingStatus> tempNew, List<AxisMovingStatus> tempOld)
        {
            await Task.Run(() =>
            {
                foreach (var newSts in tempNew)
                {
                    var oldSts = tempOld.FirstOrDefault(u => u.AxisIndex == newSts.AxisIndex);
                    if (oldSts != null)
                    {
                        if (oldSts.AxisStatus != newSts.AxisStatus)
                        {
                            AxisStatusChanged(newSts.AxisIndex, oldSts.AxisStatus, newSts.AxisStatus);
                        }

                        if (((newSts.AxisStatus >> 1 & 1) == 1) && ((oldSts.AxisStatus >> 1 & 1) == 0)) //初次报警
                        {
                            AxisAlarmRaised(newSts.AxisStatus, $"轴{newSts.AxisIndex}:{newSts.AxisName}轴伺服报警");
                        }
                    }
                }
            });
        }

        public override void OnMethodInvoked(IAsyncResult ar)
        {
            MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
            ProcessResponse resValues = monitorSet.Response;
            if (resValues.ResultValue == (int)ReplyValue.IGNORE)
            {
                return;
            }
            //MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
            //ProcessResponse resValues = monitorSet.Response;
            //if (resValues.ResultValue == (int)ReplyValue.IGNORE)
            //{
            //    return;
            //}

            Stopwatch sw = new Stopwatch();
            sw.Start();
            // 将指定IOItem写入板卡
            foreach (var replyIOData in monitorSet.ReplyIODatas)
            {
                //写入IO输出
                if (replyIOData.IOType == IOType.OUTPUT)
                {
                    GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
                }
                // in只读不能写
            }
            sw.Stop();
            LogAsync(DateTime.Now, $"{Name}反馈完成，耗时{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
            //Stopwatch sw = new Stopwatch();
            //sw.Start();
            //// 将指定IOItem写入板卡
            //foreach (var replyIOData in monitorSet.ReplyIODatas)
            //{
            //    //写入IO输出
            //    if (replyIOData.IOType == IOType.OUTPUT)
            //    {
            //        GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
            //    }
            //    // in只读不能写
            //}
            //sw.Stop();
            //LogAsync(DateTime.Now, $"{Name}反馈完成，耗时{sw.ElapsedMilliseconds}ms", $"{resValues.GetDisplayText()}");
        }

        protected void MonitorCheckAndInvoke(List<IOItem> tempNew, List<IOItem> tempOld)
@@ -1057,10 +1126,10 @@
                            monitorSet.OpConfig = new OperationConfigBase();
                        }

                        //monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        //{
                        //    return tempNew[index].Value;
                        //}).ToList();
                        monitorSet.OpConfig.InputPara = monitorSet.InputDataIndex.ConvertAll(index =>
                        {
                            return tempNew[index].Value == IOValue.TRUE ? 1 : 0;
                        }).ToList();

                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
@@ -1073,16 +1142,17 @@
        {
            int axis_sts;
            var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)axisSettings.Count);
            ClearStatus(1, axisSettings.Count);
            foreach (var axisSetting in axisSettings)
            {
                axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
                if ((axis_sts & 0x200) == 0)
                {
                    var rst = GTSCardAPI.GT_AxisOn((short)IConfig.CardNum, (short)axisSetting.AxisIndex);
                }
                // 位置请零
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, 1, (short)axisSettings.Count);
                // 所有位置请零
                PositionReset(1, axisSettings.Count);
                // 正极限报警
                if ((axis_sts & 0x20) != 0)
                {
@@ -1107,7 +1177,7 @@
            }

            // 清除状态
            GTSCardAPI.GT_ClrSts((short)IConfig.CardNum, 1, (short)IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
            ClearStatus(1, axisSettings.Count);
        }

        object _alarmLock = new object();