1. 优化gts板卡回原点操作 2. 添加数据精度配置 3. 添加HalconTool异常捕捉分类和部分非空判断

xcd

2020-08-19 e54c5a471c372e314f89c340644ddda98ab063bb

 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 +38,18 @@
        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, bool> axisImmediatePauseFlag = new Dictionary<int, bool>();
        Dictionary<int, bool> axisPauseResumeFlag = new Dictionary<int, bool>();

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

        public void SetResetFlag(bool isReset)
        {
@@ -51,7 +58,17 @@

        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 +76,15 @@
        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()
        {

@@ -82,6 +98,8 @@
        protected override void Start()
        {
            AllAxisOn();

            base.Start();
        }

        protected override void Stop()
@@ -100,14 +118,19 @@
            ResponseMessage responseMessage = new ResponseMessage();
            if (config is MotionCardOperationConfigBase motionCardOperationConfig)
            {
                _pauseHandle.WaitOne();
                foreach (var operationSet in motionCardOperationConfig.OperationCollection)
                {
                    if (operationSet.DelayBefore > 0)
                        Thread.Sleep(operationSet.DelayBefore);

                    responseMessage = RunOperationSet(operationSet);
                    if (!responseMessage.Result)
                    {
                        return responseMessage;
                    }

                    if (operationSet.DelayAfter > 0)
                        Thread.Sleep(operationSet.DelayAfter);
                }
            }
            return responseMessage;
@@ -124,16 +147,22 @@
            {
                foreach (var preCheck in operationSet.PreCheckIOCollection)
                {
                    int timeout = operationSet.PreCheckIOTimeout;
                    _pauseHandle.Wait();

                    IOValue? ioData = null;
                    while (CurrentState == DeviceState.DSOpen)
                    if (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))
                        int timeout = operationSet.PreCheckIOTimeout;

                        while (CurrentState == DeviceState.DSOpen)
                        {
                            break;
                            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;
                            }
                        }
                    }

@@ -149,10 +178,15 @@
            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(operationSet.MotionOperationCollection);
                if (!responseMessage.Result)
                _pauseHandle.Wait();

                if (CurrentState == DeviceState.DSOpen)
                {
                    return responseMessage;
                    responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
                    if (!responseMessage.Result)
                    {
                        return responseMessage;
                    }
                }
            }

@@ -160,14 +194,23 @@
            // 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)
                    _pauseHandle.Wait();

                    if (CurrentState == DeviceState.DSOpen)
                    {
                        responseMessage.Result = false;
                        responseMessage.Message = $"IO输出不通过，配置：{ioOutput.GetDisplayText()}，当前值：{ioData}";
                        return responseMessage;
                        WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);

                        //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;
                        //}
                    }
                }
            }
@@ -204,22 +247,23 @@
        #endregion

        #region ImmediatePause
        ManualResetEventSlim _pauseHandle = new ManualResetEventSlim(true);

        /// <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();
                _pauseHandle.Reset();
                immediatePauseAxis.ForEach(async axisIndex =>
                {
                    axisImmediatePauseHandleDict[axisIndex].Reset();
                    axisImmediatePauseFlag[axisIndex] = true;

                    axisMoveCancelDict[axisIndex].Cancel();

                    await MoveStop(axisIndex, 0);
                    await MoveStop(axisIndex, 0);//所有轴都暂停
                });
            }
        }
@@ -227,15 +271,22 @@
        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public void ResetImmediatePause()
        public override void ResetImmediatePause(bool isResumeMoving)
        {
            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();
            _pauseHandle.Set();
            immediatePauseAxis.ForEach(axisIndex =>
            {
                axisMoveCancelDict[axisIndex] = new CancellationTokenSource();

                axisImmediatePauseFlag[axisIndex] = false;
                axisImmediatePauseHandleDict[axisIndex].Set();
                if (isResumeMoving)
                {
                    axisPauseResumeFlag[axisIndex] = true;
                }
                else
                {
                    axisPauseResumeFlag[axisIndex] = false;
                }
            });
        }
        #endregion
@@ -251,21 +302,21 @@
        {
            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);
                throw new ProcessException("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());
@@ -273,13 +324,13 @@
            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 +342,11 @@
        /// 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 +355,11 @@
        /// 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;
            });
        }
@@ -323,16 +374,14 @@
            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)
                List<bool> resultList = new List<bool>();
                Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
                {
                    var task = SingleAxisMoving(movingOp);
                    taskList.Add(task);
                }

                Task.WaitAll(taskList.ToArray());
                responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
                    axisImmediatePauseFlag[movingOp.AxisIndex] = false;
                    axisPauseResumeFlag[movingOp.AxisIndex] = true;
                    resultList.Add(SingleAxisMoving(movingOp).Result);
                });
                responseMessage.Result = resultList.All(u => u == true);
                if (!responseMessage.Result)
                {
                    responseMessage.Message = $"点位运动异常";
@@ -350,85 +399,100 @@
        {
            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));
            if (optionPara.VelocityPara.Acc != 0)
            {
                trapprm.acc = optionPara.VelocityPara.Acc;
            }

            if (optionPara.VelocityPara.Dec != 0)
            {
                trapprm.dec = optionPara.VelocityPara.Dec;
            }

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));

            if (optionPara.VelocityPara.Velocity != 0)
            {
                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)
            {
                throw new Exception("轴" + optionPara.AxisIndex + "设置参数异常，错误码：" + string.Join(",", resultCode));
                throw new ProcessException("轴" + optionPara.AxisIndex + "设置参数异常，错误码：" + string.Join(",", resultCode));
            }
            return resultOK;
        }

        TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
        /// <summary>
        /// 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 Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return await Task.Run(() =>
            return Task.Run(() =>
            {
                bool isSuccessAndStop = false;
                try
                do
                {
                    if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                    axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                    if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
                        return true;

                    try
                    {
                        axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

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

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

                        switch (optionPara.MoveMode)
                        if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                        {
                            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;
                                    }
                            string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();

                                    if (optionPara.IsAbsolute)
                            switch (optionPara.MoveMode)
                            {
                                case MotionMode.Normal:
                                    {
                                        isSuccessAndStop = P2PMoveAbs(optionPara);
                                    }
                                    else
                                    {
                                        isSuccessAndStop = P2PMoveRel(optionPara);
                                    }
                                        if (_isResetting)
                                        {
                                            LogAsync(DateTime.Now, "复位中启动运动异常", optionPara.AxisIndex + "启动运动异常");
                                            return false;
                                        }

                                }
                                break;
                            case MotionMode.FindOri:
                                {
                                    isSuccessAndStop = GoHome(optionPara);
                                }
                                break;
                            case MotionMode.Jog:
                                {
                                    isSuccessAndStop = JogMove(optionPara);
                                }
                                break;
                                        if (optionPara.IsAbsolute)
                                        {
                                            isSuccessAndStop = P2PMoveAbs(optionPara);
                                        }
                                        //else
                                        //{
                                        //    isSuccessAndStop = P2PMoveRel(optionPara);
                                        //}

                                    }
                                    break;
                                case MotionMode.FindOri:
                                    {
                                        //isSuccessAndStop = GoHome(optionPara);  
                                        isSuccessAndStop = P2PGoHome(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);
                    }
                }
                catch (Exception ex)
                {
                    isSuccessAndStop = false;
                    LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
                }
                    catch (Exception ex)
                    {
                        isSuccessAndStop = false;
                        LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
                    }
                } while (axisImmediatePauseFlag.ContainsKey(optionPara.AxisIndex) && axisImmediatePauseFlag[optionPara.AxisIndex]);
                return isSuccessAndStop;
            });
        }
@@ -445,9 +509,10 @@
            var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out prfpos, 1, out pclock);
            if (ret != (short)GTSRetCode.GRCRunOK)
            {
                throw new Exception("轴" + axisNum + "获取规划位置异常，错误码：" + ret);
                throw new ProcessException("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;
            return position;
        }

@@ -461,13 +526,14 @@
            lock (moveLock)
            {
                double position = 0;
                int pPos = 0;
                var ret = GTSCardAPI.GT_GetPos((short)IConfig.CardNum, (short)axisNum, out pPos);
                double pPos = 0;
                var ret = GTSCardAPI.GT_GetPrfPos((short)IConfig.CardNum, (short)axisNum, out pPos, 1, out uint pclock);
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    throw new Exception("轴" + axisNum + "获取目标位置异常，错误码：" + ret);
                    throw new ProcessException("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;
                return position;
            }
        }
@@ -476,7 +542,7 @@
        /// 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;
@@ -484,9 +550,8 @@
            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);
                throw new ProcessException("轴" + axisNum + "获取规划速度异常，错误码：" + ret);
            }
            prfVel = prfVel / IConfig.AxisVelocityRatio;
            return prfVel;
        }

@@ -494,16 +559,15 @@
        /// 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;
            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);
                throw new ProcessException("轴" + axisNum + "获取当前速度异常，错误码：" + ret);
            }
            vel = vel / IConfig.AxisVelocityRatio;
            return vel;
        }

@@ -542,7 +606,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -560,7 +624,7 @@
                if (_isResetting)
                {
                    LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                    throw new ProcessException("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                }

                int repeatTime = 30;
@@ -579,7 +643,7 @@
                if (CurrentState != EnumHelper.DeviceState.DSOpen)
                {
                    LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                    throw new ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                }

                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
@@ -588,11 +652,12 @@
                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_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition));// 设置目的位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -612,8 +677,8 @@
                repeatTime = 1000;
                do
                {
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

@@ -622,7 +687,7 @@
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -640,7 +705,7 @@
                if (_isResetting)
                {
                    LogAsync(DateTime.Now, "复位过程异常", "轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                    throw new ProcessException("轴" + optionPara.AxisIndex + "试图在复位过程中运动");
                }
                int repeatTime = 30;
                while (CurrentState != EnumHelper.DeviceState.DSOpen && repeatTime > 0)
@@ -657,17 +722,18 @@
                if (CurrentState != EnumHelper.DeviceState.DSOpen)
                {
                    LogAsync(DateTime.Now, "非正常状态异常", "轴" + optionPara.AxisIndex + "试图在非正常状态运动");
                    throw new Exception("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                    throw new ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);
                }
                LogAsync(DateTime.Now, "轴" + optionPara.AxisIndex + "开始运动", "目标坐标：" + optionPara.Destination);
                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_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination));// 设置目标位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -684,19 +750,19 @@

                bool isStop = false;
                repeatTime = 1000;
                do
                while (!isStop && repeatTime > 0)
                {
                    isStop = IsStop((short)optionPara.AxisIndex);
                    Thread.Sleep(50);
                    isStop = IsStop((short)optionPara.AxisIndex);
                    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 +773,7 @@
        /// <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(() =>
            {
@@ -720,7 +786,7 @@
                if (ret != (short)GTSRetCode.GRCRunOK)
                {
                    LogAsync(DateTime.Now, "轴" + axisNum + "运动停止异常", "错误码：" + ret);
                    throw new Exception("轴" + axisNum + "运动停止异常，错误码：" + ret);
                    throw new ProcessException("轴" + axisNum + "运动停止异常，错误码：" + ret);
                }
                else
                {
@@ -729,8 +795,8 @@
                int repeatTime = 100;
                do
                {
                    isStop = IsStop((short)axisNum);
                    Thread.Sleep(10);
                    isStop = IsStop((short)axisNum);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

@@ -756,54 +822,189 @@
            var resultOK = taskList.All(u => u.GetAwaiter().GetResult());
        }

        ///// <summary>
        ///// 回原点
        ///// </summary>
        ///// <param name="movingOption">卡号</param>
        ///// <param name="axisn">轴号</param>
        ///// <param name="homests">轴回原点状态</param>
        //public bool GoHome(MovingOption movingOption)
        //{
        //    try
        //    {
        //        PositionReset(movingOption.AxisIndex, 1);
        //        GTSCardAPI.THomePrm thomeprm;
        //        GTSCardAPI.THomeStatus homests;
        //        // 启动Home捕获
        //        short rtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
        //        // 切换到点位运动模式
        //        rtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
        //        // 读取点位模式运动参数
        //        rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);

        //        thomeprm.mode = movingOption.GoHomePara.HomeMode;//回零方式
        //        thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//回零方向
        //        thomeprm.edge = movingOption.GoHomePara.Edge;
        //        thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
        //        thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
        //        thomeprm.acc = movingOption.VelocityPara.Acc;
        //        thomeprm.dec = movingOption.VelocityPara.Dec;
        //        thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//搜索距离
        //        thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset;  //偏移距离
        //        thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
        //        rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm);  //启动回零

        //        bool isStop = false;
        //        int repeatTime = 1000;
        //        do
        //        {
        //            Thread.Sleep(10);
        //            GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);

        //            isStop = homests.run == 0;
        //            if (isStop && homests.error == 0)
        //            {
        //                Thread.Sleep(200);
        //                PositionReset(movingOption.AxisIndex, 1);
        //            }
        //            repeatTime--;
        //        } while (!isStop && repeatTime > 0);

        //        return isStop;
        //    }
        //    catch (Exception ex)
        //    {
        //        AllMoveStop(true);
        //        OnExceptionOccured?.Invoke(DateTime.Now, ex);
        //        return false;
        //    }
        //}

        /// <summary>
        /// 回原点
        /// P2P方式回原点
        /// </summary>
        /// <param name="movingOption">卡号</param>
        /// <param name="axisn">轴号</param>
        /// <param name="homests">轴回原点状态</param>
        public bool GoHome(MovingOption movingOption)
        /// <param name="movingOption">运动参数</param>
        public bool P2PGoHome(MovingOption movingOption)
        {
            try
            {
                GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                GTSCardAPI.THomePrm thomeprm;
                GTSCardAPI.THomeStatus homests;
                short rtn = GTSCardAPI.GT_GetHomePrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out thomeprm);
                thomeprm.mode = movingOption.GoHomePara.HomeMode;//回零方式
                thomeprm.moveDir = movingOption.GoHomePara.HomeDir;//回零方向
                thomeprm.edge = movingOption.GoHomePara.Edge;
                thomeprm.velHigh = movingOption.GoHomePara.HighVelocity;
                thomeprm.velLow = movingOption.GoHomePara.LowVelocity;
                thomeprm.acc = movingOption.VelocityPara.Acc;
                thomeprm.dec = movingOption.VelocityPara.Dec;
                thomeprm.searchHomeDistance = movingOption.GoHomePara.SearchHomeDistance;//搜搜距离
                thomeprm.homeOffset = movingOption.GoHomePara.HomeOffset;  //偏移距离
                thomeprm.escapeStep = movingOption.GoHomePara.EscapeStep;
                rtn = GTSCardAPI.GT_GoHome((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref thomeprm);  //启动回零
                var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
                bool homeDirection = goHomePara.IsHomeDirPositive;
                bool isRightLimitReached = false;
                short capture = 0;

                bool isStop = false;
                int repeatTime = 1000;
                GTSCardAPI.TTrapPrm trapPrm;

                // 切换到点位运动模式
                short sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                // 读取点位模式运动参数
                sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
                trapPrm.acc = movingOption.VelocityPara.Acc;
                trapPrm.dec = movingOption.VelocityPara.Dec;
                // 设置点位模式运动参数
                sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
                // 设置点位模式目标速度，即回原点速度
                sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HighVelocity);

                do
                {
                    Thread.Sleep(10);
                    GTSCardAPI.GT_GetHomeStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out homests);
                    PositionReset(movingOption.AxisIndex, 1);
                    ClearStatus(movingOption.AxisIndex, 1);

                    isStop = homests.run == 0;
                    if (isStop && homests.error == 0)
                    //搜索距离 阶段1
                    // 启动Home捕获
                    sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);

                    // 设置点位模式目标位置，即原点搜索距离
                    sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
                    // 启动运动
                    sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                    int repeatTime = goHomePara.GoHomeTimeOut * 1000;

                    bool isStop = false;
                    int pos;
                    uint clk;//时钟参数
                    do
                    {
                        Thread.Sleep(200);
                        GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, 1);
                    }
                    repeatTime--;
                } while (!isStop && repeatTime > 0);
                        Thread.Sleep(IConfig.MonitorInterval * 5);
                        // 读取捕获状态
                        GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime -= IConfig.MonitorInterval * 5;
                    } while (!(isStop || capture == 1 || repeatTime <= 0));

                return isStop;
                    if (repeatTime <= 0)
                    {
                        MoveStop((short)movingOption.AxisIndex, 0);
                        throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                    }

                    var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);

                    if (isStop && capture != 1)
                    {
                        if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                        {
                            //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);

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

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

                            homeDirection = !homeDirection;
                        }

                        ClearStatus(movingOption.AxisIndex, 1);
                    }

                    if (capture == 1)
                    {
                        if (!isRightLimitReached)
                        {
                            capture = 0;
                            ClearStatus(movingOption.AxisIndex, 1);
                            //GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
                            continue;
                        }

                        //先stop
                        MoveStop((short)movingOption.AxisIndex, 0);
                        ClearStatus((short)movingOption.AxisIndex, 1);

                        //已经捕获到Home才可以回零 阶段2
                        // 运动到"捕获位置+偏移量"
                        sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
                        // 在运动状态下更新目标位置
                        sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                        isStop = false;

                        repeatTime = 1000;
                        do
                        {
                            Thread.Sleep(20);
                            isStop = IsStop((short)movingOption.AxisIndex);
                            repeatTime--;
                        } while (!isStop && repeatTime > 0);
                        PositionReset(movingOption.AxisIndex, 1);
                        return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                    }

                } while (!(capture == 1 && isRightLimitReached));
                return false;
            }
            catch (Exception ex)
            {
                AllMoveStop(true);
                OnExceptionRaised?.Invoke(ex);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
        }
@@ -840,13 +1041,13 @@
        /// 按位设置数字 IO 输出状态
        /// </summary>
        /// <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>
        /// <param name="value">false表示关，true表示开，板卡要设置取反</param>
        public override void WriteOutput(short index, IOValue value)
        {
            short outNum = (short)(index % 100 + 1);
            if ((int)value <= 1)
            {
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, (short)value);
                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, IConfig.IsOutputReversed ? (short)(value == IOValue.TRUE ? 0 : 1) : (short)value);
            }
            else
            {
@@ -863,7 +1064,7 @@
        /// <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 +1072,9 @@
        /// <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 +1084,28 @@
                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
@@ -896,10 +1118,10 @@
                AxisMovingStatus axisMovingStatus = new AxisMovingStatus();
                axisMovingStatus.AxisIndex = axisConfig.AxisIndex;
                axisMovingStatus.AxisName = axisConfig.AxisName;
                axisMovingStatus.CurPosition = Convert.ToInt32(GetPosition(axisMovingStatus.AxisIndex));
                //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.CurVelocity = GetVelocity(axisMovingStatus.AxisIndex);
                //axisMovingStatus.PrfVelocity = GetPrfVelocity(axisMovingStatus.AxisIndex);
                axisMovingStatus.AxisStatus = GetAxisStatus(axisMovingStatus.AxisIndex);

                axisMovingStatusesList.Add(axisMovingStatus);
@@ -921,7 +1143,7 @@
            GTSCardAPI.GT_GetDo((short)IConfig.CardNum, GTSCardAPI.MC_GPO, out outValue);

            //解析结果
            for (var index = 1; index <= 16; index++)
            for (var index = 0; index < 16; index++)
            {
                IOItem inItem = new IOItem()
                {
@@ -952,28 +1174,39 @@
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

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

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

                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        //Stopwatch sw = new Stopwatch();
                        //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);
                        MonitorValues = new List<IOItem>(newValues);
                        sw.Stop();

                        if (sw.ElapsedMilliseconds > 20)
                        if (AxisStatusList.Count == newAxisMovingStatus.Count)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                            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();

                        //if (sw.ElapsedMilliseconds > 20)
                        //{
                        //    LogAsync(DateTime.Now, $"{this.Name}轮询时间：{sw.ElapsedMilliseconds}", "");
                        //}

                        if (IConfig.MonitorInterval > 0)
                        {
@@ -992,29 +1225,52 @@
            });
        }

        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)
@@ -1059,8 +1315,9 @@

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

                        ExcuteMonitorInvoke(DateTime.Now, monitorSet.InvokeDevice, this, monitorSet);
                    }
@@ -1073,16 +1330,23 @@
        {
            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);

            if (AxisStatusList.Count == 0)
            {
                Thread.Sleep(10);
            }

            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 ?? 0;
                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 +1371,7 @@
            }

            // 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();