1. gocator添加重试和清理缓存操作 2. gts板卡调整监听频率 3. 记录产品数据使用filsstream避免程序崩溃影响

patrick.xu

2021-01-25 e69865a1a3739740201bac8782b721da35d49923

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -46,6 +46,8 @@
        /// 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>();

@@ -97,6 +99,9 @@
        {
            AllAxisOn();

            MonitorPosition();
            MonitorAxisStatus();

            base.Start();
        }

@@ -145,16 +150,22 @@
            {
                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;
                            }
                        }
                    }

@@ -170,10 +181,15 @@
            // 2.板卡运动
            if (CurrentState == DeviceState.DSOpen)
            {
                responseMessage = MoveToPoint(new MotionOperationCollection() { MovingOps = operationSet.MovingOps });
                if (!responseMessage.Result)
                _pauseHandle.Wait();

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

@@ -181,18 +197,24 @@
            // 3.IO输出 不需要超时
            if (CurrentState == DeviceState.DSOpen)
            {

                foreach (var ioOutput in operationSet.IOOutputCollection)
                {
                    WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);
                    _pauseHandle.Wait();

                    //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 (CurrentState == DeviceState.DSOpen)
                    {
                        WriteOutput((short)ioOutput.IOItem.IONum, ioOutput.CheckValue);

                    //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;
                    //}
                        //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;
                        //}
                    }
                }
            }

@@ -228,6 +250,8 @@
        #endregion

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

        /// <summary>
        /// 启动立即暂停
        /// </summary>
@@ -236,12 +260,11 @@
            if (!_isResetting)
            {
                var immediatePauseAxis = IConfig.AxisSettings.FindAll(a => a.IsAxisEnabled && a.IsImmediatePause).Select(u => u.AxisIndex).ToList();

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

                    //axisMoveCancelDict[axisIndex].Cancel();
                    axisImmediatePauseFlag[axisIndex] = true;

                    await MoveStop(axisIndex, 0);//所有轴都暂停
                });
@@ -251,15 +274,22 @@
        /// <summary>
        /// 恢复立即暂停
        /// </summary>
        public override void ResetImmediatePause()
        public override void ResetImmediatePause(bool isResumeMoving)
        {
            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
@@ -281,7 +311,6 @@
                throw new ProcessException("板卡载入配置文件异常，错误码：" + res);
            }
        }


        public override bool AllAxisOn()
        {
@@ -347,25 +376,17 @@
            ResponseMessage responseMessage = new ResponseMessage();
            if (opConfig is MotionOperationCollection gtsOperationCollection)
            {
                //List<Task<bool>> taskList = new List<Task<bool>>();
                //foreach (var movingOp in gtsOperationCollection.MovingOps)
                //{
                //    var task = SingleAxisMoving(movingOp);
                //    taskList.Add(task);
                //    task.Start();
                //}
                //Task.WaitAll(taskList.ToArray());                
                //responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());

                List<bool> resultList = new List<bool>();
                Parallel.ForEach(gtsOperationCollection.MovingOps, movingOp =>
                {
                    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";
                    responseMessage.Message = $"点位运动异常,运动结果：{string.Join(" ", resultList.Select(u => u ? "1" : "0"))}";
                }
            }
            return responseMessage;
@@ -378,24 +399,28 @@
        /// <returns></returns>
        private bool SetAxisParam(MovingOption optionPara)
        {
            List<short> resultCode = new List<short>() { 0 };
            List<short> resultCode = new List<short>();
            GTSCardAPI.TTrapPrm trapprm = new GTSCardAPI.TTrapPrm();
            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;

            if (optionPara.VelocityPara.Acc != 0)
            if (optionPara.VelocityPara.Acc != 0 || optionPara.VelocityPara.Dec != 0)
            {
                trapprm.acc = optionPara.VelocityPara.Acc;
            }
                resultCode.Add(GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, axisIndex, out trapprm));
                trapprm.smoothTime = 1;

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

            resultCode.Add(GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, axisIndex, ref trapprm));
                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)
            {
@@ -405,9 +430,10 @@
            var resultOK = resultCode.All(u => u == (short)GTSRetCode.GRCRunOK);
            if (!resultOK)
            {
                throw new ProcessException("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));
                LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}设置参数异常，错误码：{string.Join(",", resultCode)}", "");
            }
            return resultOK;
            return true;
        }

        TaskFactory taskFactory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.LongRunning);
@@ -418,63 +444,64 @@
        public override Task<bool> SingleAxisMoving(MovingOption optionPara)
        {
            return Task.Run(() =>
             {
                 axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();
                 bool isSuccessAndStop = false;
                 try
                 {
                     if (IConfig.AxisSettings.FirstOrDefault(a => a.AxisIndex == optionPara.AxisIndex)?.IsAxisEnabled ?? false)
                     {
                         // string _position = "";
                         string motionType = optionPara.MoveMode == EnumHelper.MotionMode.Normal ? (optionPara.IsAbsolute ? "Abs" : "Rel") : optionPara.MoveMode.ToString();
            {
                bool isSuccessAndStop = false;
                do
                {
                    axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

                         // _position = $"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff},{optionPara.AxisIndex},{motionType},{GetPosition(optionPara.AxisIndex)},{GetPrfPosition(optionPara.AxisIndex)},{optionPara.Destination},";
                    if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
                        return true;

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

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

                                 }
                                 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());
                 }
                 return isSuccessAndStop;
             });
                                        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;
                            }
                        }
                    }
                    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;
            });
        }

        /// <summary>
@@ -503,7 +530,7 @@
        /// <returns></returns>
        public double GetPosition(int axisNum)
        {
            lock (moveLock)
            //lock (moveLock)
            {
                double position = 0;
                double pPos = 0;
@@ -623,7 +650,9 @@
                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 ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);

                    return false;
                    //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);
@@ -702,8 +731,11 @@
                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 ProcessException("轴" + optionPara.AxisIndex + "试图在非正常状态运动", null);

                    return false;
                    //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;
@@ -737,7 +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)
            {
@@ -760,7 +799,8 @@
                bool isStop = false;
                if (option == 1)
                {
                    StateChange(EnumHelper.DeviceState.DSExcept);
                    //StateChange(EnumHelper.DeviceState.DSExcept);
                    LogAsync(DateTime.Now, "急停停止", "");
                }
                var ret = GTSCardAPI.GT_Stop((short)IConfig.CardNum, 1 << (axisNum - 1), option);
                if (ret != (short)GTSRetCode.GRCRunOK)
@@ -868,18 +908,17 @@
        {
            try
            {
                StartCapture:
                Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;

                PositionReset(movingOption.AxisIndex, 1);
                ClearStatus(movingOption.AxisIndex, 1);
                var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
                bool homeDirection = goHomePara.IsHomeDirPositive;
                bool isRightLimitReached = false;
                short capture = 0;

                GTSCardAPI.TTrapPrm trapPrm;
                bool isStop = false;
                //搜索距离 阶段1
                // 启动Home捕获
                short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);

                // 切换到点位运动模式
                sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                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;
@@ -887,76 +926,145 @@
                // 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, movingOption.GoHomePara.HighVelocity);
                sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HomeVelocity);

                // 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, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
                // 启动运动
                sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                int repeatTime = 1000;
                short capture;
                int pos;
                uint clk;//时钟参数
                do
                {
                    Thread.Sleep(20);
                    // 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--;
                } while (!(isStop || capture == 1 || repeatTime <= 0));
                    PositionReset(movingOption.AxisIndex, 1);
                    ClearStatus(movingOption.AxisIndex, 1);

                if (repeatTime <= 0)
                {
                    MoveStop((short)movingOption.AxisIndex, 0);
                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }
                    //LogAsync(DateTime.Now, $"{Name}位置置零", "");

                if (isStop && capture != 1)
                {
                    ClearStatus((short)movingOption.AxisIndex, 1);
                    if (goHomePara.IsCaptureMode)
                    {
                        //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 ? 999999999 : -999999999);
                    // 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 = 0;
                    uint clk;//时钟参数

                    int checkInterval = IConfig.MonitorInterval;
                    if (IConfig.MonitorInterval <= 0)
                    {
                        checkInterval = 10;
                    }

                    do
                    {
                        Thread.Sleep(checkInterval);

                        if (goHomePara.IsCaptureMode)
                        {
                            // 读取捕获状态
                            GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                        }
                        else
                        {
                            GTSCardAPI.GT_GetDi((short)IConfig.CardNum, GTSCardAPI.MC_HOME, out int pValue);
                            capture = (short)((pValue & (1 << (movingOption.AxisIndex - 1))) == 0 ? 1 : 0);
                            //LogAsync(DateTime.Now, $"原点状态{pValue}，轴{movingOption.AxisIndex}原点{capture}", "");
                        }
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime -= checkInterval;
                    } while (!(isStop || capture == 1 || repeatTime <= 0));

                    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 (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                    //if (isStop)
                    //{
                    //    LogAsync(DateTime.Now, $"轴{movingOption.AxisIndex}复位中停止", $"Capture状态{capture}");
                    //}

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

                            //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;

                            LogAsync(DateTime.Now, $"轴{movingOption.AxisIndex}极限位置换向", "");
                        }

                        ClearStatus(movingOption.AxisIndex, 1);
                    }

                    throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }

                if (capture == 1)
                {
                    //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 + movingOption.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
                    if (capture == 1)
                    {
                        Thread.Sleep(20);
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime--;
                    } while (!isStop && repeatTime > 0);
                    PositionReset(movingOption.AxisIndex, 1);
                    return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                }
                        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);
                        LogAsync(DateTime.Now, $"轴{movingOption.AxisIndex}复位完成，位置清零", "");

                        return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                    }

                } while (!(capture == 1 && isRightLimitReached));

                return false;
            }
            catch (Exception ex)
            {
                LogAsync(DateTime.Now, $"{Name}回原点异常", ex.GetExceptionMessage());
                AllMoveStop(true);
                OnExceptionOccured?.Invoke(DateTime.Now, ex);
                return false;
            }
            finally
            { 
            
            }
        }

@@ -1027,7 +1135,7 @@
        /// <returns></returns>
        public override int GetAxisStatus(int axisNum)
        {
            lock (moveLock)
            //lock (moveLock)
            {
                int sts = 0;
                uint pclock = 0;
@@ -1050,7 +1158,7 @@
        /// <returns></returns>
        public override bool PositionReset(int startAxisIndex, int count)
        {
            lock (moveLock)
            //lock (moveLock)
            {
                var rtn = GTSCardAPI.GT_ZeroPos((short)IConfig.CardNum, (short)startAxisIndex, (short)count);
                return rtn == (short)GTSRetCode.GRCRunOK;
@@ -1081,7 +1189,6 @@

            return axisMovingStatusesList;
        }


        public List<IOItem> GetMonitorValues()
        {
@@ -1115,6 +1222,82 @@
            return result;
        }

        SpinWait _positionWait = new SpinWait();
        private async void MonitorPosition()
        {
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

                        AxisStatusList.ForEach(a =>
                        {
                            int curPosition = (int)GetPrfPosition(a.AxisIndex);

                            if (a.CurPosition != curPosition)
                            {
                                a.CurPosition = curPosition;
                                AxisPositionChanged(a.AxisIndex, curPosition);
                            }
                        });

                        Task.Delay(100).Wait();

                        //_positionWait.SpinOnce();
                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听轴信息异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        SpinWait _statusWait = new SpinWait();
        private async void MonitorAxisStatus()
        {
            await Task.Run(() =>
            {
                while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept && CurrentState != EnumHelper.DeviceState.DSUninit)
                {
                    try
                    {
                        if (!IConfig.IsEnableMonitor)
                            return;

                        AxisStatusList.ForEach(a =>
                        {
                            int curStatus = GetAxisStatus(a.AxisIndex);

                            if (a.AxisStatus != curStatus)
                            {
                                int temp = a.AxisStatus;
                                a.AxisStatus = curStatus;
                                AxisStatusChanged(a.AxisIndex, temp, curStatus);
                            }
                        });

                        Thread.Sleep(10);
                        //Task.Delay(10).Wait();
                    }
                    catch (Exception ex)
                    {
                        if (CurrentState == DeviceState.DSOpen)
                        {
                            LogAsync(DateTime.Now, $"{this.Name}监听轴信息异常", ex.GetExceptionMessage());
                        }
                    }
                }
            });
        }

        public async override void Monitor()
        {
            await Task.Run(() =>
@@ -1127,9 +1310,9 @@
                            return;

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

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

                        //Stopwatch sw = new Stopwatch();
@@ -1143,14 +1326,14 @@
                            MonitorCheckAndInvoke(tempNew, tempOld);
                        }

                        if (AxisStatusList.Count == newAxisMovingStatus.Count)
                        {
                            var tempNew = new List<AxisMovingStatus>(newAxisMovingStatus);//clone
                            var tempOld = new List<AxisMovingStatus>(AxisStatusList);
                            AxisStatusCheck(tempNew, tempOld);
                        }
                        //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);
                        //AxisStatusList = new List<AxisMovingStatus>(newAxisMovingStatus);
                        MonitorValues = new List<IOItem>(newValues);
                        //sw.Stop();

@@ -1282,10 +1465,16 @@
            int axis_sts;
            var axisSettings = IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled);
            ClearStatus(1, axisSettings.Count);

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

            foreach (var axisSetting in axisSettings)
            {
                //axis_sts = GetAxisStatus((short)axisSetting.AxisIndex);
                axis_sts = AxisStatusList.FirstOrDefault(u => u.AxisIndex == axisSetting.AxisIndex).AxisStatus;
                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);