1. GTS回原点修改，避免来回 2. 添加单键测量结果补偿 3. 部分条件限制，日志修改 4. 来料检debug，添加退出条件判断

patrick.xu

2021-08-13 2edc3c54ba7a42d5e9bb9120b9881d418e6bd408

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -312,7 +312,6 @@
            }
        }


        public override bool AllAxisOn()
        {
            List<Task<bool>> taskList = new List<Task<bool>>(); ;
@@ -387,7 +386,7 @@
                responseMessage.Result = resultList.All(u => u == true);
                if (!responseMessage.Result)
                {
                    responseMessage.Message = $"点位运动异常";
                    responseMessage.Message = $"点位运动异常,运动结果：{string.Join(" ", resultList.Select(u => u ? "1" : "0"))}";
                }
            }
            return responseMessage;
@@ -770,7 +769,14 @@
                    repeatTime--;
                }

                return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
                if (repeatTime <= 0)
                {
                    LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move未停止", "");
                    return false;
                }

                //return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
                return true;
            }
            catch (Exception ex)
            {
@@ -992,18 +998,26 @@
                            capture = 0;

                            //正限位
                            if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
                            if ((axisStatus.AxisStatus & 0x20) != 0)
                            {
                                isRightLimitReached = true;
                                homeDirection = false;

                                if (!goHomePara.IsCaptureDirPositive)
                                {
                                    isRightLimitReached = true;
                                }
                            }

                            //负限位
                            if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
                            if ((axisStatus.AxisStatus & 0x40) != 0)
                            {
                                isRightLimitReached = true;
                            }
                                homeDirection = true;

                            homeDirection = !homeDirection;
                                if (goHomePara.IsCaptureDirPositive)
                                {
                                    isRightLimitReached = true;
                                }
                            }

                            LogAsync(DateTime.Now, $"轴{movingOption.AxisIndex}极限位置换向", "");
                        }
@@ -1055,6 +1069,10 @@
                AllMoveStop(true);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
            finally
            { 
            
            }
        }

@@ -1235,7 +1253,9 @@
                            }
                        });

                        _positionWait.SpinOnce();
                        Task.Delay(100).Wait();

                        //_positionWait.SpinOnce();
                    }
                    catch (Exception ex)
                    {
@@ -1272,7 +1292,8 @@
                            }
                        });

                        _statusWait.SpinOnce();
                        Thread.Sleep(10);
                        //Task.Delay(10).Wait();
                    }
                    catch (Exception ex)
                    {