ZTM运动库增加初始化的日志方便查询问题

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);

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();

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);