1、固高脉冲卡去掉初始化时的配置项，改为从配置文件加载

2、固高脉冲卡增加对扩展IO卡的支持

Rs.Framework/Rs.Framework.csproj

@@ -33,7 +33,7 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="halcondotnet">
-      <HintPath>C:\Users\Administrator\Desktop\Rs.MotionPlat\Rs.MotionPlat\bin\Debug\halcondotnet.dll</HintPath>
+      <HintPath>..\HWindow_Tool\bin\Debug\halcondotnet.dll</HintPath>
     </Reference>
     <Reference Include="log4net, Version=2.0.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
       <HintPath>..\packages\log4net.2.0.15\lib\net45\log4net.dll</HintPath>

Rs.Motion/Base/Config/AxisConfig.cs

@@ -172,7 +172,7 @@ namespace Rs.Motion.Base.Config
         [XmlElement]
         [CommonPropertyDescription("限位开关是否启用 根据卡的相关说明配置")]
         [CopyAttribute]
-        public ushort EnableEL { get; set; }
+        public short EnableEL { get; set; }
         [XmlElement]
         [CommonPropertyDescription("软极限制动模式 0:减速停止 1:立即停止")]
         [CopyAttribute]

Rs.Motion/Base/IIOCard.cs

@@ -16,6 +16,7 @@ namespace Rs.Motion.Base
         [XmlElement]
         public List<IIO> DOut { get; set; } = new List<IIO>();
 
+        public ushort SlaveID { get; set; }
         public ushort CardID { get; set; } = 0;
 
         public string Name { get; set; } = "本地IO";

Rs.Motion/GugaoPulse/GugaoPulseAxis.cs

@@ -56,65 +56,65 @@ namespace Rs.Motion.GugaoPulse
                 apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig);
             }
 
-            mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, out mc_pulse_cfg.TDoConfig oConfig);
+            //mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, out mc_pulse_cfg.TDoConfig oConfig);
-            oConfig.reverse = 0;
+            //oConfig.reverse = 0;
-            mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, ref  oConfig);
+            //mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, ref  oConfig);
 
-            mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 12, out  oConfig);
+            //mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 12, out  oConfig);
-            oConfig.reverse = 1;
+            //oConfig.reverse = 1;
-            mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 12, ref oConfig);
+            //mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 12, ref oConfig);
 
-            mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 13, out oConfig);
+            //mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 13, out oConfig);
-            oConfig.reverse = 1;
+            //oConfig.reverse = 1;
-            mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 13, ref oConfig);
+            //mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 13, ref oConfig);
 
             //先判断正限位
 
 
-            if ((Config.EnableEL & 0x01) == 0)//禁用正限位
+            //if ((Config.EnableEL & 0x01) == 0)//禁用正限位
-            {
+            //{
-                mc_pulse.GT_LmtsOff((short)Config.CardId, (short)Config.AxisId, mc_pulse.MC_LIMIT_POSITIVE);
+            //    mc_pulse.GT_LmtsOff((short)Config.CardId, (short)Config.AxisId, mc_pulse.MC_LIMIT_POSITIVE);
-            }
+            //}
-            else
+            //else
-            {
+            //{
-                axisConfig.limitPositiveIndex = (short)Config.AxisId;
+            //    axisConfig.limitPositiveIndex = (short)Config.AxisId;
-                //axisConfig.alarmIndex = (short)Config.AxisId;
+            //    //axisConfig.alarmIndex = (short)Config.AxisId;
-                apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_POSITIVE, (short)Config.AxisId, out diConfig);
+            //    apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_POSITIVE, (short)Config.AxisId, out diConfig);
-                diConfig.active = 1;
+            //    diConfig.active = 1;
-                diConfig.reverse = (short)Config.ElLogic;
+            //    diConfig.reverse = (short)Config.ElLogic;
-                diConfig.filterTime = 3;
+            //    diConfig.filterTime = 3;
-                apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_POSITIVE, (short)Config.AxisId, ref diConfig);
+            //    apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_POSITIVE, (short)Config.AxisId, ref diConfig);
 
                 
-            }
+            //}
-            //先判断负限位
+            ////先判断负限位
-            if (((Config.EnableEL >> 1) & 0x01) == 0)
+            //if (((Config.EnableEL >> 1) & 0x01) == 0)
-            {
+            //{
-                mc_pulse.GT_LmtsOff((short)Config.CardId, (short)Config.AxisId, mc_pulse.MC_LIMIT_NEGATIVE);
+            //    mc_pulse.GT_LmtsOff((short)Config.CardId, (short)Config.AxisId, mc_pulse.MC_LIMIT_NEGATIVE);
-            }
+            //}
-            else
+            //else
-            {
+            //{
-                axisConfig.limitNegativeIndex = (short)Config.AxisId;
+            //    axisConfig.limitNegativeIndex = (short)Config.AxisId;
-                apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_NEGATIVE, (short)Config.AxisId, out diConfig);
+            //    apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_NEGATIVE, (short)Config.AxisId, out diConfig);
-                diConfig.active = 1;
+            //    diConfig.active = 1;
-                diConfig.reverse = (short)Config.ElLogic;
+            //    diConfig.reverse = (short)Config.ElLogic;
-                diConfig.filterTime = 3;
+            //    diConfig.filterTime = 3;
-                apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_NEGATIVE, (short)Config.AxisId, ref diConfig);
+            //    apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_NEGATIVE, (short)Config.AxisId, ref diConfig);
-            }
+            //}
-            if (Config.EnableInp == 1)
+            //if (Config.EnableInp == 1)
-            {
+            //{
-                apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, out diConfig);
+            //    apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, out diConfig);
-                diConfig.active = 1;
+            //    diConfig.active = 1;
-                diConfig.reverse = (short)Config.InpLogic;
+            //    diConfig.reverse = (short)Config.InpLogic;
-                apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, ref diConfig);
+            //    apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, ref diConfig);
-            }
+            //}
             apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
             diConfig.active = 1;
             diConfig.reverse = (short)Config.HomeOrgLogic;
             diConfig.filterTime = 3;
             apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig);
 
-            apiResult = mc_pulse_cfg.GT_SetAxisConfig((short)Config.CardId, (short)Config.AxisId, ref axisConfig);
+            //apiResult = mc_pulse_cfg.GT_SetAxisConfig((short)Config.CardId, (short)Config.AxisId, ref axisConfig);
             // mc_cfg.GT_SetDiConfig(short diType, short diIndex, ref TDiConfig pDi); 
             //mc_pulse.GT_EncSns((short)Config.CardId, 0);
             mc_pulse.GT_ClrSts((short)Config.CardId, (short)Config.AxisId, 1);
@@ -809,6 +809,7 @@ namespace Rs.Motion.GugaoPulse
             homePrm.searchHomeDistance = 0;
             homePrm.searchIndexDistance = 0;
             homePrm.edge = (short)(Config.HomeOrgLogic == 0 ? 1 : 0);
+
             apiResult = mc_pulse.GT_GoHome((short)Config.CardId, (short)Config.AxisId, ref homePrm);
 
            // LogHelper.Debug($"axis {Config.AxisName} start home ,homedir={Config.HomeDir},homemode={Config.HomeMode}");

Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs

@@ -49,14 +49,36 @@ namespace Rs.Motion.GugaoPulse
 
         public override IIOCard AddIoCard(int cardID, string name, string vender, bool isEthercat, ushort inNum, ushort outNum, int slaveID)
         {
+
+            string filename = string.Empty;
             GLinkIOCard ioCard = new GLinkIOCard();
-            string filename = $"config/motion/io/gugao{cardID}.xml";
+            if(vender== "GugaoPulseExt")
+            {
+                //先打开卡
+                apiResult = mc_pulse.GT_OpenExtMdl((short)cardID, "gts.dll");
+                if(apiResult== 0)
+                {
+                    mc_pulse.GT_LoadExtConfig((short)cardID, "ExtModule.cfg");
+                    LogHelper.Debug($"打开扩展卡{slaveID-1}成功");
+                }
+                else
+                {
+                    LogHelper.Debug($"打开扩展卡{slaveID - 1}失败");
+                }
+                filename = $"config/motion/io/gugaoext{cardID}.xml";
+            }
+            else
+            {
+                filename = $"config/motion/io/gugao{cardID}.xml";
+            }
+            //string filename = $"config/motion/io/gugao{cardID}.xml";
             if (!File.Exists(filename))
             {
                 ioCard.CardID = (ushort)cardID;
                 ioCard.Name = name;
                 ioCard.Vender = vender;
                 ioCard.IsEtherCat = isEthercat;
+                ioCard.SlaveID = (ushort)slaveID;
                 ioCard.Init((short)cardID,inNum, outNum, (ushort)slaveID);
                 bool suc = XmlSerializerHelper.Instance.Serialize<GLinkIOCard>(filename, ioCard);
             }
@@ -78,9 +100,10 @@ namespace Rs.Motion.GugaoPulse
         public override ErrorCode Init()
         {
             SqliteHelper db = new SqliteHelper();
-            DataTable dt = db.GetDataTable("select * from motioncard where vender='gugao' and enable=1 order by id desc");
+            DataTable dt = db.GetDataTable("select * from motioncard where vender='gugao' and enable=1 order by id asc");
             if(dt!=null&&dt.Rows.Count>0)
             {
+                MessageQueue.Instance.Insert($"have {dt.Rows.Count} card need init");
                 foreach (DataRow row in dt.Rows)
                 {
                     //ICard card = new GugaoPulseCard(ushort.Parse(row["cardid"].ToString()), 8, $"gugaopulse{row["cardid"]}.xml");
@@ -90,8 +113,20 @@ namespace Rs.Motion.GugaoPulse
                     apiResult = mc_pulse.GT_Open(short.Parse(row["cardid"].ToString()), 0, 1);
                     if (apiResult != 0)
                     {
+                        MessageQueue.Instance.Warn($"mc_pulse.GT_Open({short.Parse(row["cardid"].ToString())}, 0, 1);ret={apiResult}");
                         return ErrorCode.CardInitFail;
                     }
+                    else
+                    {
+                        //加载配置文件
+                        short cardid = short.Parse(row["cardid"].ToString());
+                        if(File.Exists($"gugao{cardid}.cfg"))
+                        {
+                         apiResult =   mc_pulse.GT_LoadConfig(short.Parse(row["cardid"].ToString()), $"gugao{cardid}.cfg");
+                            LogHelper.Debug($"加载固高配置文件gugao{cardid},ret={apiResult}");
+                        }
+                        MessageQueue.Instance.Insert($"mc_pulse.GT_Open({short.Parse(row["cardid"].ToString())}, 0, 1);ret={apiResult}");
+                    }
                     //清楚报警和限位
                     apiResult = mc_pulse.GT_ClrSts(0, 1, 8);
                     if (apiResult != 0)

Rs.Motion/IoManager.cs

@@ -32,6 +32,16 @@ namespace Rs.Motion
                             ushort.Parse(dr["OutNum"].ToString()),
                             int.Parse(dr["SlaveID"].ToString()
                             ));
+                case "GugaoPulseExt":
+                    return GugaoPulseCardManager.Instance.AddIoCard(
+                            int.Parse(dr["CardID"].ToString()),
+                            dr["CardName"].ToString(),
+                            dr["vender"].ToString(),
+                            false,
+                            ushort.Parse(dr["InNum"].ToString()),
+                            ushort.Parse(dr["OutNum"].ToString()),
+                            int.Parse(dr["SlaveID"].ToString()
+                            ));
                 case "GugaoPulse":
                     return GugaoPulseCardManager.Instance.AddIoCard(
                             int.Parse(dr["CardID"].ToString()),
@@ -167,7 +177,31 @@ namespace Rs.Motion
                     if (apiResult == 0)
                     {
                         byte pValue = (byte)(~(value >> eio.Index) & 0x01);
-                        return pValue;
+                        if (eio.IsReverse)
+                        {
+                            return (short)((~pValue) & 0x01);
+                        }
+                        else
+                        {
+                            return (short)pValue;
+                        }
+                    }
+                }
+                else if(io.Card.Vender== "GugaoPulseExt")
+                {
+                    GLinkIO eio = (GLinkIO)io;
+                    apiResult = mc_pulse.GT_GetExtIoValue((short)io.CardID,(short)(io.Card.SlaveID-1), out ushort value);
+                    if (apiResult == 0)
+                    {
+                        byte pValue = (byte)(~(value >> eio.Index) & 0x01);
+                        if (eio.IsReverse)
+                        {
+                            return (short)((~pValue) & 0x01);
+                        }
+                        else
+                        {
+                            return (short)pValue;
+                        }
                     }
                 }
                 else if (io.Card.Vender.ToLower() == "ztm")
@@ -253,6 +287,23 @@ namespace Rs.Motion
                         }
                     }
                 }
+                else if (io.Card.Vender == "GugaoPulseExt")
+                {
+                    GLinkIO eio = (GLinkIO)io;
+                    apiResult = mc_pulse.GT_GetExtDoValue(io.CardID, (short)(io.Card.SlaveID-1), out ushort value);
+                    if (apiResult == 0)
+                    {
+                        byte pValue = (byte)((value >> eio.Index) & 0x01);
+                        if (io.IsReverse)
+                        {
+                            return (short)((~pValue) & 0x01);
+                        }
+                        else
+                        {
+                            return (short)pValue;
+                        }
+                    }
+                }
                 else if (io.Card.Vender.ToLower() == "ztm")
                 {
                     ZtmIO zio = (ZtmIO)io;
@@ -310,6 +361,11 @@ namespace Rs.Motion
                     GLinkIO gio = (GLinkIO)io;
                     apiResult = mc_pulse.GT_SetDoBit(gio.CardID, mc_pulse.MC_GPO, (short)(gio.Index + 1), value);
                 }
+                else if (io.Card.Vender == "GugaoPulseExt")
+                {
+                    GLinkIO gio = (GLinkIO)io;
+                    apiResult = mc_pulse.GT_SetExtIoBit(gio.CardID,(short)(io.Card.SlaveID-1), (short)(gio.Index), value);
+                }
                 else if(io.Card.Vender.ToLower()=="ztm")
                 {
                     ZtmIO ztm = (ZtmIO)io;