From 0214fddc04dc39acef002528367219d548471ae0 Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Sat, 11 Nov 2023 09:02:32 +0800
Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E5=A2=9E=E5=8A=A0=E5=9B=9E=E5=8E=9F?=
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---
 Rs.Motion/Base/IAxis.cs                |  7 +++
 Rs.Motion/GugaoPulse/GugaoPulseAxis.cs | 84 ++++++++++++++------------
 2 files changed, 51 insertions(+), 40 deletions(-)

diff --git a/Rs.Motion/Base/IAxis.cs b/Rs.Motion/Base/IAxis.cs
index bf2791e..ac568bf 100644
--- a/Rs.Motion/Base/IAxis.cs
+++ b/Rs.Motion/Base/IAxis.cs
@@ -165,6 +165,13 @@ namespace Rs.Motion.Base
             return ErrorCode.Ok;
         }
 
+        public virtual ErrorCode CompareStatus(out short _pStatus, out int _pCount)
+        {
+            _pStatus = 0;
+            _pCount = 0;
+            return ErrorCode.Ok;
+        }
+
         public virtual ErrorCode ComparePulse(ushort channel)
         {
             return ErrorCode.Ok;
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index f76d5a8..066feb4 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -1218,46 +1218,37 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.Ok;
             }
-            //if (!m_bIsInitialized)
-            //{
-            //    return ErrorCode.AXIS_NOT_INIT;
-            //}
-            //ErrorCode err = GetEmgStatus(out bool bEmg);
-            //if (err > ErrorCode.OK)
-            //{
-            //    return err;
-            //}
-            //if (bEmg)
-            //{
-            //    return ErrorCode.EMERGENCY;
-            //}
-            //err = GetAlarmStatus(out bool bAlarm);
-            //if (err > ErrorCode.OK)
-            //{
-            //    return err;
-            //}
-            //if (bAlarm)
-            //{
-            //    return ErrorCode.ALARM;
-            //}
-            //err = IsEnable(out bool bEnable);
-            //if (err > ErrorCode.OK)
-            //{
-            //    return err;
-            //}
-            //if (!bEnable)
-            //{
-            //    return ErrorCode.SERVO_OFF;
-            //}
-            //err = IsStop(out bool bStop);
-            //if (err > ErrorCode.OK)
-            //{
-            //    return err;
-            //}
-            //if (!bStop)
-            //{
-            //    return ErrorCode.NOT_STOP;
-            //}
+            if (!cardManager.IsInitialized)
+            {
+                return ErrorCode.CardNotInit;
+            }
+            ErrorCode err = GetAlarmStatus(out bool bAlarm);
+            if (err > ErrorCode.Ok)
+            {
+                return err;
+            }
+            if (bAlarm)
+            {
+                return ErrorCode.Alarm;
+            }
+            err = IsEnable(out bool bEnable);
+            if (err > ErrorCode.Ok)
+            {
+                return err;
+            }
+            if (!bEnable)
+            {
+                return ErrorCode.ServoOff;
+            }
+            err = IsStop(out bool bStop);
+            if (err > ErrorCode.Ok)
+            {
+                return err;
+            }
+            if (!bStop)
+            {
+                return ErrorCode.Moving;
+            }
             Thread t = t = new Thread(new ParameterizedThreadStart(DefaultHome));
             HomeStatus = EHomeStatus.Start;
             t.Name = Config.AxisName + " homing thread";
@@ -1612,6 +1603,19 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.Fail;
             }
+            
+            return ErrorCode.Ok;
+        }
+
+        public override ErrorCode CompareStatus(out short _pStatus,out int _pCount)
+        {
+            _pStatus = 0;
+            _pCount = 0;
+            apiResult = mc_pulse.GT_CompareStatus((short)Config.CardId, out _pStatus, out _pCount);
+            if(apiResult!= 0)
+            {
+                return ErrorCode.Fail;
+            }
             return ErrorCode.Ok;
         }