优化固高总线卡的IO操作

Rs.Motion/GugaoEcat/ECatIOCard.cs

@@ -1,4 +1,6 @@
-using Rs.Motion.Base;
+using Rs.Framework;
+using Rs.Motion.Base;
+using Rs.Motion.GugaoPulse;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -44,6 +46,13 @@ namespace Rs.Motion.GugaoEcat
                 io.Name = "In" + i + "_" + slaveNo;
                 DIn.Add(io);
             }
+
+
+        }
+        public override void Save()
+        {
+            string filename = $"config/motion/io/gugao_ecat{CardID}.xml";
+            XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, this);
         }
     }
 }

Rs.Motion/IoManager.cs

@@ -206,7 +206,16 @@ namespace Rs.Motion
                         ECatIO eio = (ECatIO)io;
                         apiResult = mc_ecat.GTN_EcatIOBitReadOutput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
                         if (apiResult == 0)
-                            return pValue;
+                        {
+                            if (io.IsReverse)
+                            {
+                                return (short)((~pValue) & 0x01);
+                            }
+                            else
+                            {
+                                return pValue;
+                            }
+                        }
                     }
                     else
                     {
@@ -215,7 +224,15 @@ namespace Rs.Motion
                         if (apiResult == 0)
                         {
                             byte pValue = (byte)(~(value >> eio.Index) & 0x01);
-                            return pValue;
+                            if(io.IsReverse)
+                            {
+                                return (short)((~pValue) & 0x01);
+                            }
+                            else
+                            {
+                                return pValue;
+                            }
+                            
                         }
                     }
                 }