1、增加回原之前轴状态的判断

2、增加位置比较后比较状态的查询

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;

Rs.Motion/GugaoPulse/GugaoPulseAxis.cs

@@ -1218,46 +1218,37 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.Ok;
             }
-            //if (!m_bIsInitialized)
+            if (!cardManager.IsInitialized)
-            //{
+            {
-            //    return ErrorCode.AXIS_NOT_INIT;
+                return ErrorCode.CardNotInit;
-            //}
+            }
-            //ErrorCode err = GetEmgStatus(out bool bEmg);
+            ErrorCode err = GetAlarmStatus(out bool bAlarm);
-            //if (err > ErrorCode.OK)
+            if (err > ErrorCode.Ok)
-            //{
+            {
-            //    return err;
+                return err;
-            //}
+            }
-            //if (bEmg)
+            if (bAlarm)
-            //{
+            {
-            //    return ErrorCode.EMERGENCY;
+                return ErrorCode.Alarm;
-            //}
+            }
-            //err = GetAlarmStatus(out bool bAlarm);
+            err = IsEnable(out bool bEnable);
-            //if (err > ErrorCode.OK)
+            if (err > ErrorCode.Ok)
-            //{
+            {
-            //    return err;
+                return err;
-            //}
+            }
-            //if (bAlarm)
+            if (!bEnable)
-            //{
+            {
-            //    return ErrorCode.ALARM;
+                return ErrorCode.ServoOff;
-            //}
+            }
-            //err = IsEnable(out bool bEnable);
+            err = IsStop(out bool bStop);
-            //if (err > ErrorCode.OK)
+            if (err > ErrorCode.Ok)
-            //{
+            {
-            //    return err;
+                return err;
-            //}
+            }
-            //if (!bEnable)
+            if (!bStop)
-            //{
+            {
-            //    return ErrorCode.SERVO_OFF;
+                return ErrorCode.Moving;
-            //}
+            }
-            //err = IsStop(out bool bStop);
-            //if (err > ErrorCode.OK)
-            //{
-            //    return err;
-            //}
-            //if (!bStop)
-            //{
-            //    return ErrorCode.NOT_STOP;
-            //}
             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;
         }