From 65faad811883efc4264e3a5ca2c4e64340c198f5 Mon Sep 17 00:00:00 2001
From: wells.liu <wells.liu@broconcentric.com>
Date: 星期六, 04 七月 2020 13:02:28 +0800
Subject: [PATCH] 板卡运动

---
 src/Bro.Device.GTSCard/GTSCardDriver.cs            |  219 ++++++++++++++++++++++++++---------
 src/Bro.Common.Model/Helper/StaticHelper.cs        |   18 +++
 src/Bro.Common.Device/DeviceBase/MotionCardBase.cs |    5 
 src/Bro.Common.Model/Model/MotionCardRelated.cs    |  103 +++++++++--------
 4 files changed, 233 insertions(+), 112 deletions(-)

diff --git a/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs b/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs
index 0f64dde..ca5ba82 100644
--- a/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs
+++ b/src/Bro.Common.Device/DeviceBase/MotionCardBase.cs
@@ -161,10 +161,7 @@
         [TypeConverter(typeof(CollectionCountConvert))]
         [Editor(typeof(ComplexCollectionEditor<MovingOption>), typeof(UITypeEditor))]
         public List<MovingOption> MovingOps { get; set; } = new List<MovingOption>();
-        [Category("鏉垮崱杩愬姩閰嶇疆")]
-        [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
-        [DisplayName("杩愬姩瓒呮椂")]
-        public int MovingTimeout { get; set; } = 0;
+
 
         public string GetDisplayText()
         {
diff --git a/src/Bro.Common.Model/Helper/StaticHelper.cs b/src/Bro.Common.Model/Helper/StaticHelper.cs
index 47bb257..0c5de62 100644
--- a/src/Bro.Common.Model/Helper/StaticHelper.cs
+++ b/src/Bro.Common.Model/Helper/StaticHelper.cs
@@ -250,5 +250,23 @@
                 collection.Move(collection.IndexOf(sortedList[i]), i);
             }
         }
+
+        // 甯冨皵绫诲瀷杞崲涓烘暣鍨�
+        public static int ToInt(this object obj)
+        {
+            if (Convert.ToBoolean(obj) == true)
+                return 1;
+            else
+                return 0;
+        }
+
+        // 鏁村瀷杞崲涓哄竷灏旂被鍨�
+        public static bool ToBool(this object obj)
+        {
+            if (Convert.ToInt32(obj) == 1)
+                return true;
+            else
+                return false;
+        }
     }
 }
diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs
index 5b4f5ac..a285cdc 100644
--- a/src/Bro.Common.Model/Model/MotionCardRelated.cs
+++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs
@@ -35,66 +35,66 @@
         [Category("鎹㈢畻閰嶇疆")]
         [DisplayName("鑴夊啿鏁版崲绠楁瘮渚�")]
         [Description("鑴夊啿鏁板拰鍏朵粬璁¢噺鍗曚綅鐨勬崲绠楁瘮渚嬶紝渚嬪璁剧疆涓�1000锛岃〃绀�1000涓剦鍐茬瓑浜�1uint")]
-        public int PulseRatio { get; set; } = 1;
+        public int AxisRatio { get; set; } = 1;
 
-        [Category("閫熷害閰嶇疆")]
-        [DisplayName("榛樿閫熷害鍙傛暟")]
-        [Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
-        [TypeConverter(typeof(ComplexObjectConvert))]
-        [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
-        public VelocityPara VelocityPara { get; set; } = new VelocityPara();
+        //[Category("閫熷害閰嶇疆")]
+        //[DisplayName("榛樿閫熷害鍙傛暟")]
+        //[Description("VelocityPara锛氶粯璁ら�熷害鍙傛暟")]
+        //[TypeConverter(typeof(ComplexObjectConvert))]
+        //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+        //public VelocityPara VelocityPara { get; set; } = new VelocityPara();
 
-        [Category("鍥炲師鐐硅缃�")]
-        [DisplayName("鍥炲師鐐规ā寮�")]
-        [Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
-        public int HomeMode { get; set; } = 0;
+        //[Category("鍥炲師鐐硅缃�")]
+        //[DisplayName("鍥炲師鐐规ā寮�")]
+        //[Description("HomeMode锛氬洖鍘熺偣妯″紡銆�0锛氫竴鑸ā寮� 1锛氭瀬闄愰檺浣嶆ā寮� 2锛氬閮ㄨЕ鍙戞ā寮�")]
+        //public int HomeMode { get; set; } = 0;
 
-        [Category("鍥炲師鐐硅缃�")]
-        [DisplayName("鍥炲師鐐规柟鍚�")]
-        [Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮�  false锛氳礋鏂瑰悜寮�濮�")]
-        public bool IsHomePositive { get; set; } = true;
+        //[Category("鍥炲師鐐硅缃�")]
+        //[DisplayName("鍥炲師鐐规柟鍚�")]
+        //[Description("IsHomePositive锛氬洖鍘熺偣鏂瑰悜銆� true锛氭鏂瑰悜寮�濮�  false锛氳礋鏂瑰悜寮�濮�")]
+        //public bool IsHomePositive { get; set; } = true;
 
-        [Category("鍥炲師鐐硅缃�")]
-        [DisplayName("鏄惁鑷姩鍥炲師鐐�")]
-        [Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸  false锛氬惁")]
-        public bool IsAutoGoHome { get; set; } = false;
+        //[Category("鍥炲師鐐硅缃�")]
+        //[DisplayName("鏄惁鑷姩鍥炲師鐐�")]
+        //[Description("IsAutoGoHome锛氭槸鍚﹁嚜鍔ㄥ洖鍘熺偣銆� true锛氭槸  false锛氬惁")]
+        //public bool IsAutoGoHome { get; set; } = false;
 
-        [Category("瓒呮椂璁剧疆")]
-        [DisplayName("鍥炲師鐐硅秴鏃�")]
-        [Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
-        public int TimeOutHome { get; set; } = 30000;
+        //[Category("瓒呮椂璁剧疆")]
+        //[DisplayName("鍥炲師鐐硅秴鏃�")]
+        //[Description("TimeOutHome锛氬洖鍘熺偣瓒呮椂锛屽崟浣嶆绉�")]
+        //public int TimeOutHome { get; set; } = 30000;
 
-        [Category("瓒呮椂璁剧疆")]
-        [DisplayName("杩愬姩瓒呮椂")]
-        [Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
-        public int TimeOutMove { get; set; } = 10000;
+        //[Category("瓒呮椂璁剧疆")]
+        //[DisplayName("杩愬姩瓒呮椂")]
+        //[Description("TimeOutMove锛氳繍鍔ㄨ秴鏃讹紝鍗曚綅姣")]
+        //public int TimeOutMove { get; set; } = 10000;
 
-        [Category("寮�闂幆璁剧疆")]
-        [DisplayName("鏄惁浣跨敤Cmmd鍥為")]
-        [Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
-        public bool IsUseCmmdPosition { get; set; } = false;
+        //[Category("寮�闂幆璁剧疆")]
+        //[DisplayName("鏄惁浣跨敤Cmmd鍥為")]
+        //[Description("IsUseCmmdPosition锛氭槸鍚︿娇鐢–mmd鍥為")]
+        //public bool IsUseCmmdPosition { get; set; } = false;
 
-        [Category("寮�闂幆璁剧疆")]
-        [DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
-        [Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
-        public bool IsUseMDNStopSignal { get; set; } = false;
+        //[Category("寮�闂幆璁剧疆")]
+        //[DisplayName("鏄惁浣跨敤鏉垮崱鍙嶉鍋滄淇″彿")]
+        //[Description("IsUseMDNStopSignal锛氭槸鍚︿娇鐢ㄦ澘鍗″弽棣堝仠姝俊鍙�")]
+        //public bool IsUseMDNStopSignal { get; set; } = false;
 
-        [Category("寮�闂幆璁剧疆")]
-        [DisplayName("鏄惁鍚敤鎶ヨ")]
-        [Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
-        public bool IsUseWarning { get; set; } = false;
+        //[Category("寮�闂幆璁剧疆")]
+        //[DisplayName("鏄惁鍚敤鎶ヨ")]
+        //[Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
+        //public bool IsUseWarning { get; set; } = false;
 
-        [Category("鏆傚仠閰嶇疆")]
-        [DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
-        [Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
-        public bool IsImmediatePause { get; set; } = false;
+        //[Category("鏆傚仠閰嶇疆")]
+        //[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
+        //[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
+        //public bool IsImmediatePause { get; set; } = false;
 
-        [Category("鏆傚仠閰嶇疆")]
-        [DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
-        [Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
-        [TypeConverter(typeof(CollectionCountConvert))]
-        [Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
-        public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
+        //[Category("鏆傚仠閰嶇疆")]
+        //[DisplayName("杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+        //[Description("ImmediatePauseSections锛氬綋杞翠綅缃浜庡尯闂村唴鏃堕�傜敤鐨勬殏鍋滄搷浣�")]
+        //[TypeConverter(typeof(CollectionCountConvert))]
+        //[Editor(typeof(ComplexCollectionEditor<Section>), typeof(UITypeEditor))]
+        //public List<Section> ImmediatePauseSections { get; set; } = new List<Section>();
 
         public string GetDisplayText()
         {
@@ -305,6 +305,11 @@
             }
         }
 
+        [Category("鏉垮崱杩愬姩閰嶇疆")]
+        [Description("瓒呮椂璁剧疆锛屽崟浣嶏細ms")]
+        [DisplayName("杩愬姩瓒呮椂")]
+        public int MovingTimeout { get; set; } = 0;
+
         internal List<AxisSetting> _axisSettingList = new List<AxisSetting>();
         public void SetAxisSetting(List<AxisSetting> settings)
         {
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 2cb1a6d..b8e668e 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -75,10 +75,95 @@
             AllAxisOff();
         }
 
+        /// <summary>
+        /// 璁惧 杩愯
+        /// </summary>
+        /// <param name="config"></param>
+        /// <returns></returns>
         public override ResponseMessage Run(IOperationConfig config)
         {
             ResponseMessage responseMessage = new ResponseMessage();
+            var opConfig = config as GTSCardOperationConfig;
+            // 1.棰勬鏌�
+            if (CurrentState == DeviceState.DSOpen)
+            {
+                foreach (var preCheck in opConfig.PreCheckIOCollection)
+                {
+                    int timeout = opConfig.PreCheckIOTimeout;
+                    int? 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 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+                        timeout -= 10;
+                        if (preCheck.CheckValue == ioData || (opConfig.PreCheckIOTimeout > 0 && timeout < 0))
+                        {
+                            break;
+                        }
+                    }
 
+                    if (preCheck.CheckValue != ioData)
+                    {
+                        responseMessage.Result = false;
+                        responseMessage.Message = $"棰勬鏌ヤ笉閫氳繃锛岄厤缃細{preCheck.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+                        return responseMessage;
+                    }
+                }
+            }
+
+            // 2.鏉垮崱杩愬姩
+            if (CurrentState == DeviceState.DSOpen)
+            {
+                responseMessage = MoveToPoint(opConfig);
+
+                if (!responseMessage.Result)
+                {
+                    return responseMessage;
+                }
+            }
+
+
+            // 3.IO杈撳嚭 涓嶉渶瑕佽秴鏃�
+            if (CurrentState == DeviceState.DSOpen)
+            {
+                foreach (var ioOutput in opConfig.IOOutputCollection)
+                {
+                    var ioData = MonitorValues.FirstOrDefault(u => u.IONum == ioOutput.IOItem.IONum && u.IOType == ioOutput.IOItem.IOType)?.Value;//IO 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+                    if (ioOutput.CheckValue != ioData)
+                    {
+                        responseMessage.Result = false;
+                        responseMessage.Message = $"IO杈撳嚭涓嶉�氳繃锛岄厤缃細{ioOutput.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+                        return responseMessage;
+                    }
+                }
+            }
+
+            // 4.IO纭
+            if (CurrentState == DeviceState.DSOpen)
+            {
+                foreach (var ioConfirm in opConfig.IOConfirmCollection)
+                {
+                    int timeout = opConfig.IOConfirmTimeout;
+                    int? 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 鏄紑銆佸叧 浠嶮onitorValues 鑾峰彇
+                        timeout -= 10;
+                        if (ioConfirm.CheckValue == ioData || (opConfig.IOConfirmTimeout > 0 && timeout < 0))
+                        {
+                            break;
+                        }
+                    }
+
+                    if (ioConfirm.CheckValue != ioData)
+                    {
+                        responseMessage.Result = false;
+                        responseMessage.Message = $"IO纭涓嶉�氳繃锛岄厤缃細{ioConfirm.GetDisplayText()}锛屽綋鍓嶅�硷細{ioData}";
+                        return responseMessage;
+                    }
+                }
+            }
 
             return responseMessage;
         }
@@ -164,7 +249,7 @@
         /// <returns>杩愬姩鎺у埗+鍋滄鍒ゆ柇</returns>
         public override ResponseMessage MoveToPoint(IOperationConfig opConfig)
         {
-            bool resultOK = false;
+            ResponseMessage responseMessage = new ResponseMessage();
             var gtsOperationConfig = opConfig as GTSCardOperationConfig;
             List<Task<bool>> taskList = new List<Task<bool>>();
             //TaskFactory factory = new TaskFactory(TaskCreationOptions.LongRunning, TaskContinuationOptions.None);
@@ -179,10 +264,12 @@
                 taskList.Add(task);
             }
             Task.WaitAll(taskList.ToArray());
-            resultOK = taskList.All(u => u.GetAwaiter().GetResult());
-
-            //return resultOK;
-            throw new NotImplementedException();
+            responseMessage.Result = taskList.All(u => u.GetAwaiter().GetResult());
+            if (!responseMessage.Result)
+            {
+                responseMessage.Message = $"鐐逛綅杩愬姩寮傚父";
+            }
+            return responseMessage;
         }
 
         /// <summary>
@@ -220,48 +307,56 @@
             return await Task.Run(() =>
             {
                 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, "澶嶄綅涓惎鍔ㄨ繍鍔ㄥ紓甯�", optionPara.AxisIndex + "鍚姩杩愬姩寮傚父");
-                                    return false;
-                                }
+                        string _position = "";
+                        string motionType = optionPara.MoveMode == EnumHelper.MotorMoveMode.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 MotorMoveMode.Normal:
+                                {
+                                    if (_isResetting)
+                                    {
+                                        LogAsync(DateTime.Now, "澶嶄綅涓惎鍔ㄨ繍鍔ㄥ紓甯�", optionPara.AxisIndex + "鍚姩杩愬姩寮傚父");
+                                        return false;
+                                    }
+
+                                    if (optionPara.IsAbsolute)
+                                    {
+                                        isSuccessAndStop = P2PMoveAbs(optionPara);
+                                    }
+                                    else
+                                    {
+                                        isSuccessAndStop = P2PMoveRel(optionPara);
+                                    }
+
+                                }
+                                break;
+                            case MotorMoveMode.FindOri:
+                                {
+                                    isSuccessAndStop = GoHome(optionPara);
+                                }
+                                break;
+                            case MotorMoveMode.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, $"杞磠optionPara.AxisIndex}杩愬姩寮傚父", ex.GetExceptionMessage());
                 }
                 return isSuccessAndStop;
             });
@@ -332,7 +427,7 @@
                     if (ret != (short)GTSRetCode.GRCRunOK)
                     {
                         LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + repeatTime);
-                        Thread.Sleep(50);
+                        Thread.Sleep(10);
                     }
                     repeatTime--;
                 } while (ret != (short)GTSRetCode.GRCRunOK && repeatTime > 0);
@@ -406,11 +501,11 @@
 
                 LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + 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;
+                while (CurrentState == DeviceState.DSOpen)
                 {
                     //璁剧疆 杩愬姩鍙傛暟
                     isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -422,8 +517,12 @@
                         LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + 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;
+                    }
+                }
 
                 //杩愬姩寮�濮嬪悗 妫�鏌ヨ繍鍔ㄦ槸鍚﹀仠姝�
                 bool isStop = false;
@@ -477,9 +576,9 @@
                 }
                 LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "寮�濮嬭繍鍔�", "鐩爣鍧愭爣锛�" + optionPara.Destination);
                 short ret = 0;
-                repeatTime = 100;
                 bool isSuccessSetAxisParam = false;
-                do
+                int timeout = optionPara.MovingTimeout;
+                while (CurrentState == DeviceState.DSOpen)
                 {
                     //璁剧疆 杩愬姩鍙傛暟
                     isSuccessSetAxisParam = SetAxisParam(optionPara);
@@ -491,8 +590,12 @@
                         LogAsync(DateTime.Now, "杞�" + optionPara.AxisIndex + "APS_absolute_move寮傚父", "閿欒鐮侊細" + ret + ";" + "閲嶈瘯娆℃暟锛�" + 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;
@@ -637,14 +740,13 @@
         /// <summary>
         /// 璇诲彇IO杈撳嚭
         /// </summary>
-        /// <param name="cardNum"></param>
-        /// <param name="index"></param>
+        /// <param name="index">io绱㈠紩</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;
         }
@@ -652,19 +754,18 @@
         /// <summary>
         /// 鎸変綅璁剧疆鏁板瓧 IO 杈撳嚭鐘舵��
         /// </summary>
-        /// <param name="cardNum">鍗″彿</param>
         /// <param name="index">杈撳嚭鍙�,杩斿洖1-16</param>
         /// <param name="value">false琛ㄧず杈撳嚭锛宼rue琛ㄧず鍏抽棴</param>
-        public void WriteOut(short cardNum, short index, bool value)
+        public void WriteOut(short index, bool value)
         {
             short outNum = (short)(index % 100 + 1);
             if (value)
             {
-                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 0);
+                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 0);
             }
             else
             {
-                GTSCardAPI.GT_SetDoBit(cardNum, GTSCardAPI.MC_GPO, outNum, 1);
+                GTSCardAPI.GT_SetDoBit((short)IConfig.CardNum, GTSCardAPI.MC_GPO, outNum, 1);
             }
         }
 

--
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