M071.git - Gitblit

			@@ -18,12 +18,12 @@
			namespace Bro.Device.GTSCard
			{
			[Device("GTSCard", "固高板卡", EnumHelper.DeviceAttributeType.Device)]
			public class GTSCardDriver : DeviceBase, IMonitor, IMotion
			public class GTSCardDriver : MotionCardBase
			{
			// 异常事件
			public Action<Exception> OnExceptionRaised;

			public GTSCardInitialConfig IConfig
			public GTSCardInitialConfig IIConfig
			{
			get
			{
			@@ -37,14 +37,36 @@
			/// </summary>
			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>();

			public void SetResetFlag(bool isReset)
			{
			_isResetting = isReset;
			}

			public List<AxisInfo> GetCurrentAxisInfo(params string[] axisName)
			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 = AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex);
			axisInfo.AxisLocation = axisMovingStatus == null ? 0 : Convert.ToDouble(axisMovingStatus.CurPosition);

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

			#region DeviceBase
			@@ -52,16 +74,23 @@
			protected override void Init()
			{
			InitialMotionCard();
			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();
			//});
			}

			protected override void Pause()
			{
			throw new NotImplementedException();

			}

			protected override void Resume()
			{
			throw new NotImplementedException();

			}

			protected override void Start()
			@@ -73,6 +102,154 @@
			{
			AllMoveStop();
			AllAxisOff();
			}

			/// <summary>
			/// 设备运行（执行板卡系列的操作的集合）
			/// </summary>
			/// <param name="config"></param>
			/// <returns></returns>
			public override ResponseMessage Run(IOperationConfig config)
			{
			ResponseMessage responseMessage = new ResponseMessage();
			if (config is MotionCardOperationConfigBase motionCardOperationConfig)
			{
			foreach (var operationSet in motionCardOperationConfig.OperationCollection)
			{
			responseMessage = RunOperationSet(operationSet);
			if (!responseMessage.Result)
			{
			return responseMessage;
			}
			}
			}
			return responseMessage;
			}

			/// <summary>
			/// 执行一个系列的操作
			/// </summary>
			private ResponseMessage RunOperationSet(MotionCardOperationSet operationSet)
			{
			ResponseMessage responseMessage = new ResponseMessage();
			// 1.预检查
			if (CurrentState == DeviceState.DSOpen)
			{
			foreach (var preCheck in operationSet.PreCheckIOCollection)
			{
			int timeout = operationSet.PreCheckIOTimeout;
			IOValue? ioData = null;
			while (CurrentState == DeviceState.DSOpen)
			{
			Thread.Sleep(10);
			ioData = MonitorValues.FirstOrDefault(u => u.IONum == preCheck.IOItem.IONum && u.IOType == preCheck.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取
			timeout -= 10;
			if (preCheck.CheckValue == ioData \|\| (operationSet.PreCheckIOTimeout > 0 && timeout < 0))
			{
			break;
			}
			}

			if (preCheck.CheckValue != ioData)
			{
			responseMessage.Result = false;
			responseMessage.Message = $"预检查不通过，配置：{preCheck.GetDisplayText()}，当前值：{ioData}";
			return responseMessage;
			}
			}
			}

			// 2.板卡运动
			if (CurrentState == DeviceState.DSOpen)
			{
			responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
			if (!responseMessage.Result)
			{
			return responseMessage;
			}
			}


			// 3.IO输出不需要超时
			if (CurrentState == DeviceState.DSOpen)
			{
			foreach (var ioOutput in operationSet.IOOutputCollection)
			{
			var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取
			if (ioOutput.CheckValue != ioData)
			{
			responseMessage.Result = false;
			responseMessage.Message = $"IO输出不通过，配置：{ioOutput.GetDisplayText()}，当前值：{ioData}";
			return responseMessage;
			}
			}
			}

			// 4.IO确认
			if (CurrentState == DeviceState.DSOpen)
			{
			foreach (var ioConfirm in operationSet.IOConfirmCollection)
			{
			int timeout = operationSet.IOConfirmTimeout;
			IOValue? ioData = null;
			while (CurrentState == DeviceState.DSOpen)
			{
			Thread.Sleep(10);
			ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioConfirm.IOItem.IONum && u.IOType == ioConfirm.IOItem.IOType)?.Value;//IO 是开、关从MonitorValues 获取
			timeout -= 10;
			if (ioConfirm.CheckValue == ioData \|\| (operationSet.IOConfirmTimeout > 0 && timeout < 0))
			{
			break;
			}
			}

			if (ioConfirm.CheckValue != ioData)
			{
			responseMessage.Result = false;
			responseMessage.Message = $"IO确认不通过，配置：{ioConfirm.GetDisplayText()}，当前值：{ioData}";
			return responseMessage;
			}
			}
			}

			return responseMessage;
			}
			#endregion

			#region ImmediatePause
			/// <summary>
			/// 启动立即暂停
			/// </summary>
			public void SetImmediatePause()
			{
			if (!_isResetting)
			{
			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();

			await MoveStop(axisIndex, 0);//所有轴都暂停
			});
			}
			}

			/// <summary>
			/// 恢复立即暂停
			/// </summary>
			public void ResetImmediatePause()
			{
			var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

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

			axisImmediatePauseHandleDict[axisIndex].Set();
			});
			}
			#endregion

			@@ -87,20 +264,21 @@
			{
			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);
			}
			}

			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());
			@@ -108,13 +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());
			@@ -126,11 +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;
			});
			}
			@@ -139,11 +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;
			});
			}
			@@ -153,26 +331,26 @@
			/// </summary>
			/// <param name="item">运动对象</param>
			/// <returns>运动控制+停止判断</returns>
			public bool MoveToPoint(IOperationConfig opConfig)
			public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
			{
			bool resultOK = false;
			var gtsOperationConfig = opConfig as GTSCardOperationConfig;
			List<Task<bool>> taskList = new List<Task<bool>>();
			//TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
			// 如果是多个轴的运动等每个轴运动结束
			foreach (var movingOp in gtsOperationConfig.MovingOps)
			ResponseMessage responseMessage = new ResponseMessage();
			if (opConfig is MotionOperationCollection gtsOperationCollection)
			{
			//var task = factory.StartNew<bool>((op) =>
			//{
			// return SingleAxisMoving(op as MovingOption);
			//}, movingOp);
			var task = SingleAxisMoving(movingOp);
			taskList.Add(task);
			}
			Task.WaitAll(taskList.ToArray());
			resultOK = taskList.All(u => u.GetAwaiter().GetResult());
			List<Task<bool>> taskList = new List<Task<bool>>();
			foreach (var movingOp in gtsOperationCollection.MovingOps)
			{
			var task = SingleAxisMoving(movingOp);
			taskList.Add(task);
			}

			return resultOK;
			Task.WaitAll(taskList.ToArray());
			responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
			if (!responseMessage.Result)
			{
			responseMessage.Message = $"点位运动异常";
			}
			}
			return responseMessage;
			}

			/// <summary>
			@@ -205,53 +383,62 @@
			/// 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;
			if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
			try
			{
			string _position = "";
			string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

			_position = $"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex).ToString()},{GetPrfPosition(optionPara.AxisIndex).ToString()},{optionPara.Destination},";

			switch (optionPara.MoveMode)
			if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
			{
			case MotorMoveMode.Normal:
			{
			if (_isResetting)
			{
			LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
			return false;
			}
			string _position = "";
			string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

			if (optionPara.IsAbsolute)
			{
			isSuccessAndStop = P2PMoveAbs(optionPara);
			}
			else
			{
			isSuccessAndStop = P2PMoveRel(optionPara);
			}
			_position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";

			}
			break;
			case MotorMoveMode.FindOri:
			{
			isSuccessAndStop = GoHome(optionPara);
			}
			break;
			case MotorMoveMode.Jog:
			{
			isSuccessAndStop = JogMove(optionPara);
			}
			break;
			switch (optionPara.MoveMode)
			{
			case MotionMode.Normal:
			{
			if (_isResetting)
			{
			LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
			return false;
			}

			if (optionPara.IsAbsolute)
			{
			isSuccessAndStop = P2PMoveAbs(optionPara);
			}
			else
			{
			isSuccessAndStop = P2PMoveRel(optionPara);
			}

			}
			break;
			case MotionMode.FindOri:
			{
			isSuccessAndStop = GoHome(optionPara);
			}
			break;
			case MotionMode.Jog:
			{
			isSuccessAndStop = JogMove(optionPara);
			}
			break;
			}
			_position += $"{GetPosition(optionPara.AxisIndex)},";
			_position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
			LogAsync(DateTime.Now, "", _position);
			}
			_position += $"{GetPosition(optionPara.AxisIndex)},";
			_position += $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}";
			LogAsync(DateTime.Now, "", _position);
			}
			catch (Exception ex)
			{
			isSuccessAndStop = false;
			LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
			}
			return isSuccessAndStop;
			});
			@@ -271,7 +458,8 @@
			{
			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;
			}

			@@ -291,9 +479,43 @@
			{
			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;
			}
			}

			/// <summary>
			/// 获取规划速度
			/// </summary>
			/// <param name="axisNum">Axis number</param>
			/// <returns>速度脉冲</returns>
			public double GetPrfVelocity(int axisNum)
			{
			double prfVel = 0;
			uint pclock = 0;
			var ret = GTSCardAPI.GT_GetPrfVel((short)IConfig.CardNum, (short)axisNum, out prfVel, 1, out pclock);
			if (ret != (short)GTSRetCode.GRCRunOK)
			{
			throw new Exception("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
			}
			return prfVel;
			}

			/// <summary>
			/// 获取当前速度
			/// </summary>
			/// <param name="axisNum">Axis number</param>
			/// <returns>速度脉冲</returns>
			public double GetVelocity(int axisNum)
			{
			double vel = 0;
			var ret = GTSCardAPI.GT_GetVel((short)IConfig.CardNum, (short)axisNum, out vel);
			if (ret != (short)GTSRetCode.GRCRunOK)
			{
			throw new Exception("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
			}
			return vel;
			}

			/// <summary>
			@@ -321,8 +543,8 @@

			if (ret != (short)GTSRetCode.GRCRunOK)
			{
			LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
			Thread.Sleep(50);
			LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "JogMove异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
			Thread.Sleep(10);
			}
			repeatTime--;
			} while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
			@@ -334,29 +556,6 @@
			OnExceptionRaised?.Invoke(ex);
			return false;
			}

			}

			/// <summary>
			/// Set Single Axis Do stop Jog Move
			/// </summary>
			/// <param name="axisNum">AxisNo</param>
			/// <returns></returns>
			public bool StopJog(int axisNum)
			{
			//停止运动
			MoveStop(axisNum, 0);
			//运动开始后检查运动是否停止
			bool isStop = false;
			int repeatTime = 1000;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
			Thread.Sleep(50);
			repeatTime--;
			} while (!isStop && repeatTime > 0);

			return isStop;
			}

			/// <summary>
			@@ -396,15 +595,16 @@

			LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
			short ret = 0;
			repeatTime = 100;
			bool isSuccessSetAxisParam = false;
			int currentPosition = (int)GetPosition(optionPara.AxisIndex);
			int dPosition = optionPara.Destination + currentPosition;
			do
			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)
			@@ -412,15 +612,19 @@
			LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
			Thread.Sleep(50);
			}
			repeatTime--;
			} while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
			timeout -= 50;
			if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) \|\| (optionPara.MovingTimeout > 0 && timeout < 0))
			{
			break;
			}
			}

			//运动开始后检查运动是否停止
			bool isStop = false;
			repeatTime = 1000;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)optionPara.AxisIndex);
			isStop = IsStop((short)optionPara.AxisIndex);
			Thread.Sleep(50);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			@@ -443,6 +647,8 @@
			{
			try
			{
			axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

			if (_isResetting)
			{
			LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
			@@ -467,13 +673,14 @@
			}
			LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
			short ret = 0;
			repeatTime = 100;
			bool isSuccessSetAxisParam = false;
			do
			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 && !_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)
			@@ -481,17 +688,21 @@
			LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "APS_absolute_move异常", "错误码：" + ret + ";" + "重试次数：" + repeatTime);
			Thread.Sleep(50);
			}
			repeatTime--;
			} while (ret != (short)GTSRetCode.GRCRunOK && !isSuccessSetAxisParam && repeatTime > 0);
			timeout -= 50;
			if ((ret == (short)GTSRetCode.GRCRunOK && isSuccessSetAxisParam) \|\| (optionPara.MovingTimeout > 0 && timeout < 0))
			{
			break;
			}
			}

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

			return (ret == (short)GTSRetCode.GRCRunOK) && isStop;
			}
			@@ -509,7 +720,7 @@
			/// <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(() =>
			{
			@@ -531,7 +742,7 @@
			int repeatTime = 100;
			do
			{
			isStop = IsStop((short)IConfig.CardNum, (short)axisNum);
			isStop = IsStop((short)axisNum);
			Thread.Sleep(10);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			@@ -568,7 +779,7 @@
			{
			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);
			@@ -595,7 +806,7 @@
			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);
			@@ -627,14 +838,13 @@
			/// <summary>
			/// 读取IO输出
			/// </summary>
			/// <param name="cardNum"></param>
			/// <param name="index"></param>
			/// <param name="index">io索引</param>
			/// <returns></returns>
			public bool GetDoSts(short cardNum, short index)
			public bool GetDoSts(short index)
			{
			int outSts;
			short outNum = (short)(index % 100);
			GTSCardAPI.GT_GetDo(cardNum, GTSCardAPI.MC_GPO, out outSts);
			GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outSts);
			if ((outSts & (1 << outNum)) == 0) return true;
			else return false;
			}
			@@ -642,19 +852,19 @@
			/// <summary>
			/// 按位设置数字 IO 输出状态
			/// </summary>
			/// <param name="cardNum">卡号</param>
			/// <param name="index">输出口,返回1-16</param>
			/// <param name="value">false表示输出，true表示关闭</param>
			public void WriteOut(short cardNum, short index, bool value)
			public override void WriteOutput(short index, IOValue value)
			{
			short outNum = (short)(index % 100 + 1);
			if (value)
			if ((int)value <= 1)
			{
			GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
			}
			else
			{
			GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
			var currentValue = (int)MonitorValues.FirstOrDefault(u => u.IONum == outNum && u.IOType == IOType.OUTPUT).Value;
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)(currentValue == 1 ? 0 : 1));
			}
			}

			@@ -664,25 +874,74 @@
			/// <param name="cardNum">板卡号</param>
			/// <param name="axisNum">轴号</param>
			/// <returns></returns>
			public bool IsStop(short cardNum, short axisNum)
			public bool IsStop(short axisNum)
			{
			int sts = GetAxisStatus(axisNum);
			if ((sts & 0x400) == 0) return true;//停止返回true
			else return false; //运行中返回false
			}

			/// <summary>
			/// 读取轴状态
			/// </summary>
			/// <param name="axisNum">轴号</param>
			/// <returns></returns>
			public override int GetAxisStatus(int axisNum)
			{
			lock (moveLock)
			{
			int sts = 0;
			uint pclock = 0;
			GTSCardAPI.GT_GetSts(cardNum, axisNum, out sts, 1, out pclock);
			if ((sts & 0x400) == 0) return true;//停止返回true
			else return false; //运行中返回false
			GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisNum, out sts, 1, out pclock);
			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
			public event Action<DateTime, string, IDevice, IMonitorSet> OnMonitorInvoke;
			public event Action<DateTime, IDevice, IWarningSet> OnMonitorAlarm;

			public List<IOItem> MonitorValues { get; set; } = new List<IOItem>();
			public List<AxisMovingStatus> GetAxisMovingStatus()
			{
			List<AxisMovingStatus> axisMovingStatusesList = new List<AxisMovingStatus>();
			foreach (var axisConfig in IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
			{
			AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
			axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
			axisMovingStatus.AxisName = axisConfig.AxisName;
			axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
			axisMovingStatus.Destination = Convert.ToInt32(GetPrfPosition(axisMovingStatus.AxisIndex));
			axisMovingStatus.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
			axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
			axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);

			axisMovingStatusesList.Add(axisMovingStatus);

			}

			return axisMovingStatusesList;
			}


			public List<IOItem> GetMonitorValues()
			@@ -701,14 +960,14 @@
			IOItem inItem = new IOItem()
			{
			IONum = index,
			Value = (inValue & (1 << index)) == 0 ? 1 : 0,
			Model = IOModel.In
			Value = (inValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
			IOType = IOType.INPUT
			};
			IOItem outItem = new IOItem()
			{
			IONum = index,
			Value = (outValue & (1 << index)) == 0 ? 1 : 0,
			Model = IOModel.Out
			Value = (outValue & (1 << index)) == 0 ? IOValue.TRUE : IOValue.FALSE,
			IOType = IOType.OUTPUT
			};
			result.Add(inItem);
			result.Add(outItem);
			@@ -717,7 +976,7 @@
			return result;
			}

			public async void Monitor()
			public async override void Monitor()
			{
			await Task.Run(() =>
			{
			@@ -728,7 +987,8 @@
			if (!IConfig.IsEnableMonitor)
			return;
			var newValues = GetMonitorValues();
			if (newValues == null \|\| newValues.Count == 0)
			var newAxisMovingStatus = GetAxisMovingStatus();
			if (newValues == null \|\| newValues.Count == 0 \|\| newAxisMovingStatus == null \|\| newAxisMovingStatus.Count == 0)
			continue;

			Stopwatch sw = new Stopwatch();
			@@ -739,6 +999,8 @@
			var tempOld = MonitorValues.DeepSerializeClone();
			MonitorCheckAndInvoke(tempNew, tempOld);
			}

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

			@@ -764,7 +1026,7 @@
			});
			}

			private void OnMethodInvoked(IAsyncResult ar)
			public override void OnMethodInvoked(IAsyncResult ar)
			{
			MotionCardMonitorSet monitorSet = ar.AsyncState as MotionCardMonitorSet;
			ProcessResponse resValues = monitorSet.Response;
			@@ -779,7 +1041,7 @@
			foreach (var replyIOData in monitorSet.ReplyIODatas)
			{
			//写入IO输出
			if (replyIOData.Model == IOModel.Out)
			if (replyIOData.IOType == IOType.OUTPUT)
			{
			GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPI, (short)replyIOData.IONum, (short)replyIOData.Value);
			}
			@@ -796,15 +1058,14 @@
			{
			MotionCardWarningSet warningSet = wSet as MotionCardWarningSet;

			bool isOn = ((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.Model == warningSet.WarningIOModel)?.Value >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);
			bool isOn = (((int)((tempNew.FirstOrDefault(u => u.IONum == warningSet.TriggerIndex && u.IOType == warningSet.WarningIOModel)?.Value)) >> warningSet.TriggerIndex) & 1) == (warningSet.TriggerValue ? 1 : 0);

			if (warningSet.CurrentStatus != isOn)
			{
			warningSet.CurrentStatus = isOn;
			warningSet.TriggerTime = DateTime.Now;
			warningSet.WarningDescription = $"警报：{warningSet.Name}-触发索引：{warningSet.TriggerIndex}-{warningSet.WarningIOModel.GetEnumDescription()}:{warningSet.WarningCode}";
			SaveAlarmCSVAsync(DateTime.Now, this.Name, warningSet);
			OnMonitorAlarm?.BeginInvoke(DateTime.Now, this, warningSet, null, null);
			ExcuteMonitorAlarm(DateTime.Now, this, warningSet);
			}
			});
			#endregion
			@@ -823,7 +1084,7 @@

			if (newIOItem?.Value != oldIOItem?.Value)
			{
			if (monitorSet.TriggerValue == -999 \|\| newIOItem.Value == monitorSet.TriggerValue)
			if (monitorSet.TriggerValue == -999 \|\| (int)newIOItem.Value == monitorSet.TriggerValue)
			{
			if (monitorSet.OpConfig == null)
			{
			@@ -835,28 +1096,27 @@
			// return tempNew[index].Value;
			//}).ToList();

			OnMonitorInvoke?.BeginInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet, OnMethodInvoked, monitorSet);
			ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
			}
			}
			});
			#endregion
			}

			public void ResetAlarm()
			public override void ResetAlarm()
			{
			int axis_sts;
			uint clk;
			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)
			{
			GTSCardAPI.GT_GetSts((short)IConfig.CardNum, (short)axisSetting.AxisIndex, out axis_sts, 1, out clk);
			axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
			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)
			{
			@@ -881,7 +1141,7 @@
			}

			// 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();