From edc408b6a1c09d7432369d22fcdfc6de924fe308 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Wed, 30 Oct 2024 08:35:03 +0800
Subject: [PATCH] =?UTF-8?q?=E5=9B=BA=E9=AB=98=E8=84=89=E5=86=B2=E5=8D=A1?=
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---
 Rs.Motion/GugaoPulse/GugaoPulseAxis.cs        | 10 ++++++++--
 Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs | 14 ++++++++++----
 2 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index f4f27a3..a590acd 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -1739,7 +1739,7 @@ namespace Rs.Motion.GugaoPulse
 
         public override ErrorCode ComparePulse(ushort channel,bool dp=true)
         {
-
+           // LogHelper.Debug($"ComparePulse:{channel},{dp}");
             //apiResult = mc_pulse.GT_2DComparePulse((short)Config.CardId, (short)(channel - 1), 1, 0, (short)Config.HcmpPulseWidth);
             short value = (short)channel;
             if (value != 0)
@@ -1747,13 +1747,19 @@ namespace Rs.Motion.GugaoPulse
                 value = (short)(1 << (channel - 1));
 
             }
-            ClearCompare(channel);
+            //ClearCompare(channel);
+            apiResult = mc_pulse.GT_CompareStop((short)Config.CardId);
+            LogHelper.Debug($"{apiResult} = mc_pulse.GT_CompareStop({(short)Config.CardId});");
             apiResult = mc_pulse.GT_ComparePulse((short)Config.CardId, (short)(1 << (channel - 1)), (short)(dp ? 1 : 0), (short)Config.HcmpPulseWidth);
             if (apiResult != 0)
             {
                 LogHelper.Debug($"{apiResult} = mc_pulse.GT_ComparePulse({(short)Config.CardId}, {(short)(1 << (channel - 1))}, {(short)(dp ? 1 : 0)}, {(short)Config.HcmpPulseWidth});");
                 return ErrorCode.Fail;
             }
+            else
+            {
+                LogHelper.Debug($"{apiResult} = mc_pulse.GT_ComparePulse({(short)Config.CardId}, {(short)(1 << (channel - 1))}, {(short)(dp ? 1 : 0)}, {(short)Config.HcmpPulseWidth});");
+            }
             return ErrorCode.Ok;
         }
 
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs b/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs
index 288a9b9..60202a7 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs
@@ -12,6 +12,7 @@ using System.IO;
 using System.Linq;
 using System.Net.NetworkInformation;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace Rs.Motion.GugaoPulse
@@ -110,7 +111,7 @@ namespace Rs.Motion.GugaoPulse
                     //card.Init();
                     //cardDic.Add(ushort.Parse(row["cardid"].ToString()), card);
                     //打开运动控制卡
-                    apiResult = mc_pulse.GT_Open(short.Parse(row["cardid"].ToString()), 0, 1);
+                    apiResult = mc_pulse.GT_Open(short.Parse(row["cardid"].ToString()), 0, 0);
                     if (apiResult != 0)
                     {
                         MessageQueue.Instance.Warn($"mc_pulse.GT_Open({short.Parse(row["cardid"].ToString())}, 0, 1);ret={apiResult}");
@@ -118,9 +119,10 @@ namespace Rs.Motion.GugaoPulse
                     }
                     else
                     {
+                        
                         //加载配置文件
                         short cardid = short.Parse(row["cardid"].ToString());
-                        if(File.Exists($"gugao{cardid}.cfg"))
+                        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}");
@@ -128,13 +130,17 @@ namespace Rs.Motion.GugaoPulse
                         MessageQueue.Instance.Insert($"mc_pulse.GT_Open({short.Parse(row["cardid"].ToString())}, 0, 1);ret={apiResult}");
                     }
                     //清楚报警和限位
-                    apiResult = mc_pulse.GT_ClrSts(0, 1, 8);
+                    apiResult = mc_pulse.GT_ClrSts(short.Parse(row["cardid"].ToString()), 1, 8);
                     if (apiResult != 0)
                     {
                         return ErrorCode.Fail;
                     }
+                    else
+                    {
+                        LogHelper.Debug($"{apiResult} = mc_pulse.GT_ClrSts({short.Parse(row["cardid"].ToString())}, 1, 8);");
+                    }
                     short value = 32767 * 5 / 10;
-                    apiResult = mc_pulse.GT_SetDac(0, 11, ref value, 1);
+                    apiResult = mc_pulse.GT_SetDac(short.Parse(row["cardid"].ToString()), 11, ref value, 1);
                     MessageQueue.Instance.Insert($"GT_SetDac ret={apiResult}");
                 }
             }