优化获取到位信号bug

Rs.Motion/GugaoPulse/GugaoPulseAxis.cs

@@ -101,6 +101,13 @@ namespace Rs.Motion.GugaoPulse
                 diConfig.filterTime = 3;
                 apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_NEGATIVE, (short)Config.AxisId, ref diConfig);
             }
+            if (Config.EnableInp == 1)
+            {
+                apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, out diConfig);
+                diConfig.active = 1;
+                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_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
             diConfig.active = 1;
             diConfig.reverse = (short)Config.HomeOrgLogic;
@@ -933,18 +940,19 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.Ok;
             }
-            #region 禁用到位信号判断
+            if(Config.EnableInp==1)
-            bool bINP = false;
-            err = GetInpStatus(out bINP);
-            if (err > ErrorCode.Ok)
             {
-                return err;
+                bool bINP = false;
-            }
+                err = GetInpStatus(out bINP);
-            if (!bINP)
+                if (err > ErrorCode.Ok)
-            {
+                {
-                return ErrorCode.Ok;
+                    return err;
+                }
+                if (!bINP)
+                {
+                    return ErrorCode.Ok;
+                }
             }
-            #endregion
             double dfCurrentTorlance = 0.0;
             double dfTorlance = Math.Abs(Config.Tolerance);
             err = GetTolerance(out dfCurrentTorlance);
@@ -1224,12 +1232,14 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.CardNotInit;
             }
-            apiResult = mc_pulse.GT_GetSts((short)Config.CardId, (short)Config.AxisId, out int pSts, 1, out uint pClock);
+            //apiResult = mc_pulse.GT_GetSts((short)Config.CardId, (short)Config.AxisId, out int pSts, 1, out uint pClock);
+            apiResult = mc_pulse.GT_GetDi((short)Config.CardId, mc_pulse.MC_ARRIVE, out int pvalue);
             if (apiResult != 0)
             {
                 return ErrorCode.Fail;
             }
-            bIsOn = ((pSts >> 11) & 0x01) == 1;
+            //bIsOn = ((pSts >> 11) & 0x01) == 1;
+            bIsOn = ((pvalue >> (short)Config.AxisId-1) & 0x01) == 1;
             return ErrorCode.Ok;
         }
 

Rs.Motion/Properties/AssemblyInfo.cs

@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("2.20.24.7")]
+[assembly: AssemblyVersion("2.20.24.8")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]