启动函数，回家函数判断，正在调试 读取ACS , EF3, DLL版本号，遗留日志删除功能

HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs

@@ -125,6 +125,7 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
 		[DllImport("HSI.dll", EntryPoint = "HSI_MOTION_IS_HOMED", CharSet = CharSet.Unicode)]
 		public static extern Def.HSI_STATUS IsHomed(ref bool bHomed);
 
+
 		[DllImport("HSI.dll", EntryPoint = "HSI_MOTION_GET_SPEED_XYZ", CharSet = CharSet.Unicode)]
 		public static extern Def.HSI_STATUS GetSpeedXyz(ref double speed);
 

HSI_SEVENOCEAN_EF1_CsTest/Program.cs

@@ -12,27 +12,25 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 
 		private static void Main(string[] args)
 		{
-			//获取HSI Dll版本
+			//1 获取HSI Dll版本
 			uint major = Def.HSI_APIVersionMajor;
 			uint minjor = Def.HSI_APIVersionMinor;
 			var rStatus = Interface.GetInterfaceVersion(ref major, ref minjor);
 			Console.WriteLine("Interface.GetInterfaceVersion: {0}", rStatus);
 			Console.WriteLine("HSI.dll Version: {0}.{1}", major, minjor);
 
-			//HSI 初始化
+			//2 HSI 初始化
 			var mainIntPtr = User32Api.GetCurrentWindowHandle();
 			rStatus = Interface.Startup(mainIntPtr, false);
 			Console.WriteLine("Interface.Startup: {0}", rStatus);
 
-			//获取机器类型
+			//3 获取机器类型
 			var machineVersion = Def.HSI_EF3Version;
 			rStatus = Interface.GetMachineInfo(ref machineVersion);
 			Console.WriteLine("Interface.GetMachineInfo: {0}", rStatus);
 			Console.WriteLine("HSI EF3 Version: {0}", machineVersion);
 
-	
-
-			//设置回调，方便根据回调结果进行提醒
+			//4 设置回调，方便根据回调结果进行提醒
 			Interface.HsiCallback = Interface.EventCallback;
 			rStatus = Interface.SetEventCallback(Interface.HsiCallback);
 			Console.WriteLine("SetEventCallback:{0}", rStatus); //事件回调成功
@@ -42,14 +40,14 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 				rStatus = Motion.Startup(true); //运动初始化，回家判断
 				Console.WriteLine("Motion.Startup:{0}", rStatus);
 
-				//获取EF3固件版本号,待测试
+				//5 获取EF3固件版本号,待测试
 				var EF3Version = new byte[20];
 				//IntPtr intPtrEF3Version = IntPtr.Zero;
 				IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
 				rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
 				Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
 				Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
-				Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.Unicode.GetString(EF3Version));
+				Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
 
 				var bHomed = true;
 				rStatus = Motion.IsHomed(ref bHomed);