From 3e9ec6a39eef7dff503625520f8857ca931b6189 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Wed, 11 Dec 2024 14:20:18 +0800
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---
 Rs.Motion/GugaoPulse/GugaoPulseAxis.cs | 48 ++++++++++++++++----------
 1 file changed, 30 insertions(+), 18 deletions(-)

diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index a81ef71..d8300a7 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -1642,8 +1642,8 @@ namespace Rs.Motion.GugaoPulse
 
         public override ErrorCode SetPosCompare(ushort channel, double[] postions)
         {
-            apiResult = mc_pulse.GT_2DCompareStop((short)Config.CardId, (short)(channel - 1));
-            if(apiResult!=0)
+            ErrorCode errCode = ClearCompare(channel);
+            if(errCode > ErrorCode.Ok)
             {
                 LogHelper.Debug($"{apiResult} = mc_pulse.GT_2DCompareStop({(short)Config.CardId}, {(short)(channel - 1)});");
                 return ErrorCode.Fail;
@@ -1744,11 +1744,11 @@ namespace Rs.Motion.GugaoPulse
         {
             _pStatus = 0;
             _pCount = 0;
-            apiResult = mc_pulse.GT_CompareStatus((short)Config.CardId, out _pStatus, out _pCount);
-            if(apiResult!= 0)
-            {
-                return ErrorCode.Fail;
-            }
+            //apiResult = mc_pulse.GT_CompareStatus((short)Config.CardId, out _pStatus, out _pCount);
+            //if(apiResult!= 0)
+            //{
+            //    return ErrorCode.Fail;
+            //}
             return ErrorCode.Ok;
         }
 
@@ -1762,31 +1762,43 @@ namespace Rs.Motion.GugaoPulse
                 value = (short)(1 << (channel - 1));
 
             }
-            //ClearCompare(channel);
-            apiResult = mc_pulse.GT_CompareStop((short)Config.CardId);
-            LogHelper.Debug($"{apiResult} = mc_pulse.GT_CompareStop({(short)Config.CardId});");
-            apiResult = mc_pulse.GT_ComparePulse((short)Config.CardId, (short)(1 << (channel - 1)), (short)(dp ? 1 : 0), (short)Config.HcmpPulseWidth);
-            if (apiResult != 0)
+            ClearCompare(channel);
+            apiResult = mc_pulse.GT_2DCompareMode((short)Config.CardId, (short)(channel - 1), mc_pulse.COMPARE2D_MODE_1D);
+            if(apiResult!=0)
             {
-                LogHelper.Debug($"{apiResult} = mc_pulse.GT_ComparePulse({(short)Config.CardId}, {(short)(1 << (channel - 1))}, {(short)(dp ? 1 : 0)}, {(short)Config.HcmpPulseWidth});");
-                return ErrorCode.Fail;
+                LogHelper.Debug($"{apiResult} = mc_pulse.GT_2DCompareMode({(short)Config.CardId}, {(short)(channel - 1)}, {mc_pulse.COMPARE2D_MODE_1D});");
             }
             else
             {
-                LogHelper.Debug($"{apiResult} = mc_pulse.GT_ComparePulse({(short)Config.CardId}, {(short)(1 << (channel - 1))}, {(short)(dp ? 1 : 0)}, {(short)Config.HcmpPulseWidth});");
+                apiResult = mc_pulse.GT_2DComparePulse((short)Config.CardMc, (short)(channel - 1), 1, (short)(dp ? 1 : 0), (short)Config.HcmpPulseWidth);
+                //apiResult = mc_pulse.GT_ComparePulse((short)Config.CardId, (short)(1 << (channel - 1)), (short)(dp ? 1 : 0), (short)Config.HcmpPulseWidth);
+                if (apiResult != 0)
+                {
+                    LogHelper.Debug($"{apiResult} = mc_pulse.GT_2DComparePulse({(short)Config.CardId}, {(short)(channel - 1)}, 1，{(short)(dp ? 1 : 0)}, {(short)Config.HcmpPulseWidth});");
+                    return ErrorCode.Fail;
+                }
             }
+            
             return ErrorCode.Ok;
         }
 
         public override ErrorCode ClearCompare(ushort uChannel)
         {
-            apiResult = mc_pulse.GT_2DCompareStop((short)Config.CardId,(short)(uChannel-1));
-            //apiResult = mc_pulse.GT_CompareStop((short)Config.CardId);
+            apiResult = mc_pulse.GT_2DCompareStop((short)Config.CardId, (short)(uChannel - 1));
             if (apiResult != 0)
             {
-                LogHelper.Debug($"{apiResult} = mc_pulse.GT_2DCompareStop({(short)Config.CardId},{(short)(uChannel-1)});");
+                LogHelper.Debug($"{apiResult} = mc_pulse.GT_2DCompareStop({(short)Config.CardId},{(short)(uChannel - 1)});");
                 return ErrorCode.Fail;
             }
+            else
+            {
+                apiResult = mc_pulse.GT_2DCompareClear((short)Config.CardId, (short)(uChannel - 1));
+                if (apiResult != 0)
+                {
+                    LogHelper.Debug($"{apiResult} = mc_pulse.GT_2DCompareClear({(short)Config.CardId},{(short)(uChannel - 1)});");
+                    return ErrorCode.Fail;
+                }
+            }
             return ErrorCode.Ok;
         }