From 2e04ae084a482d859d9c438dbc782c2b4fe20643 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Fri, 22 Sep 2023 10:11:18 +0900
Subject: [PATCH] =?UTF-8?q?ZTM=E8=BF=90=E5=8A=A8=E5=BA=93=E5=A2=9E?=
 =?UTF-8?q?=E5=8A=A0=E5=88=9D=E5=A7=8B=E5=8C=96=E7=9A=84=E6=97=A5=E5=BF=97?=
 =?UTF-8?q?=E6=96=B9=E4=BE=BF=E6=9F=A5=E8=AF=A2=E9=97=AE=E9=A2=98?=
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---
 Rs.Motion/Ztm/ZtmAxis.cs        | 26 ++++++++++++++------------
 Rs.Motion/Ztm/ZtmCard.cs        |  1 +
 Rs.Motion/Ztm/ZtmCardManager.cs |  3 +++
 3 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/Rs.Motion/Ztm/ZtmAxis.cs b/Rs.Motion/Ztm/ZtmAxis.cs
index acc7d6b..9ac649a 100644
--- a/Rs.Motion/Ztm/ZtmAxis.cs
+++ b/Rs.Motion/Ztm/ZtmAxis.cs
@@ -36,81 +36,83 @@ namespace Rs.Motion.GugaoEcat
         /// <returns></returns>
         public override ErrorCode Init()
         {
+            LogHelper.Debug($"axis {Config.AxisName} init");
             if (!cardManager.IsInitialized)
             {
+                LogHelper.Debug($"axis {Config.AxisName}'s card IsInitialized");
                 return ErrorCode.CardNotInit;
             }
             HomeStatus = EHomeStatus.NotStart;
             m_apiResult = ZTM.ZT_SetPOTOn(Config.CardMc, (short)Config.AxisId, (short)((Config.EnableEL&0x01)));
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPOTOn ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetPOTOn ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetNOTOn(Config.CardMc, (short)Config.AxisId, (short)((Config.EnableEL>>1)&0x01));
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetNOTOn ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetNOTOn ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetPOTPol(Config.CardMc, (short)Config.AxisId, (short)Config.ElLogic);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPOTPol ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetPOTPol ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetNOTPol(Config.CardMc, (short)Config.AxisId, (short)Config.ElLogic);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetNOTPol ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetNOTPol ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetAlarmOn(Config.CardMc, (short)Config.AxisId, (short)(Config.EnableAlarm));
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetAlarmOn ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetAlarmOn ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetAlarmPol(Config.CardMc, (short)Config.AxisId, (short)Config.AlarmLogic);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetAlarmPol ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetAlarmPol ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetHomePol(Config.CardMc, (short)Config.AxisId, (short)Config.HomeOrgLogic);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetHomePol ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetHomePol ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetPulseRatio(Config.CardMc, (short)Config.AxisId, 1U, 1U);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPulseRatio ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetPulseRatio ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetGearRatio(Config.CardMc, (short)Config.AxisId, 1U, 1U);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetGearRatio ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetGearRatio ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetEncoderOn(Config.CardMc, (short)Config.AxisId, (short)(Config.EnableEncoder));
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetEncoderOn ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetEncoderOn ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetPulseMode(Config.CardMc, (short)Config.AxisId, (short)Config.PulseOutMode, 0, 0);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetPulseMode ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetPulseMode ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             m_apiResult = ZTM.ZT_SetEncoderPol(Config.CardMc, (short)Config.AxisId, Config.PulseOutDir);
             if (m_apiResult != 0)
             {
-                LogHelper.MoveLog($"axis {Config.AxisName} ZT_SetEncoderPol ret={m_apiResult}");
+                LogHelper.Debug($"axis {Config.AxisName} ZT_SetEncoderPol ret={m_apiResult}");
                 return ErrorCode.Fail;
             }
             //m_LastErrorCode = ZTM.ZT_SetEncoderIndexPol(m_axis_config.CardMc, m_axis_config.AxisNum, m_axis_config.encoder_config.pulse_outindexdirection);
diff --git a/Rs.Motion/Ztm/ZtmCard.cs b/Rs.Motion/Ztm/ZtmCard.cs
index 42160fc..79647e7 100644
--- a/Rs.Motion/Ztm/ZtmCard.cs
+++ b/Rs.Motion/Ztm/ZtmCard.cs
@@ -112,6 +112,7 @@ namespace Rs.Motion.GugaoEcat
 			for(int i=0; i<AxisCount; i++)
 			{
 				IAxis axis = new ZtmAxis(Config.AxisConfigs[i]);
+				LogHelper.Debug($"init axis {axis.Config.AxisName}");
 				axis.Card = this;
 				axis.Config.Axis = axis;
 				axis.Init();
diff --git a/Rs.Motion/Ztm/ZtmCardManager.cs b/Rs.Motion/Ztm/ZtmCardManager.cs
index 81aa6ad..75a1c3c 100644
--- a/Rs.Motion/Ztm/ZtmCardManager.cs
+++ b/Rs.Motion/Ztm/ZtmCardManager.cs
@@ -119,15 +119,18 @@ namespace Rs.Motion.GugaoEcat
         }
         public ICard GetCard(short cardID)
         {
+            
             ICard card;
             if(cardDic.ContainsKey((ushort)cardID)) return cardDic[(ushort)cardID];
             if(mcDic.ContainsKey(cardID))
             {
                 card = new ZtmCard((ushort)cardID, (ushort)mcDic[cardID], 10, $"ztm{cardID}.xml");
+                LogHelper.Debug($"cardid={cardID} mc={mcDic[cardID]} ");
             }
            else
             {
                 card = new ZtmCard((ushort)cardID, 0, 10, $"ztm{cardID}.xml");
+                LogHelper.Debug($"cardid={cardID} ");
             }
             card.Init();
             cardDic.Add((ushort)cardID, card);