From a4113d92471bc05bdcf741c525de94374d839a82 Mon Sep 17 00:00:00 2001
From: LI Bin <bin.b.li@hexagon.com>
Date: Tue, 18 Mar 2014 15:31:31 +0800
Subject: [PATCH] Add rotary control panel.

---
 .../Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp |  47 +-
 .../Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h   |   4 +-
 .../Msi/Hsi/SevenOcean/SO7_Proto_Aux.cpp      | 752 ++++++++++++++++++
 .../Msi/Hsi/SevenOcean/SO7_Proto_Aux.h        | 304 +++++++
 .../Tools/UsbUtility/Debug/UtilityDebug.Log   | 136 +++-
 .../Hsi/Tools/UsbUtility/UsbUtil/Mv_Util.rc   |  74 +-
 .../Tools/UsbUtility/UsbUtil/So7_Option.cpp   |  42 +-
 .../UsbUtility/UsbUtil/So7_UtilUsbCtlR.cpp    | 182 +++++
 .../UsbUtility/UsbUtil/So7_UtilUsbCtlR.h      |  38 +
 .../Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj |   4 +
 .../UsbUtil/Usb_Util.vcxproj.filters          |   8 +
 .../Hsi/Tools/UsbUtility/UsbUtil/resource.h   |  29 +
 .../Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo   | Bin 2355712 -> 2355712 bytes
 13 files changed, 1594 insertions(+), 26 deletions(-)
 create mode 100644 PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.cpp
 create mode 100644 PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.h
 create mode 100644 PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.cpp
 create mode 100644 PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.h

diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
index 4d6b8fc..28249d5 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
@@ -2719,10 +2719,11 @@ SSI_STATUS_MOTION CSO7_Proto::_process_replay_capture_commands(char *inBuff, FIL
 };
 
 //******************************************************************************
-usb_dev_handle* CSO7_Proto::_open_usb_dev(void)
+usb_dev_handle* CSO7_Proto::_open_usb_dev(unsigned short sSeqNumber)
 {
   struct usb_bus *bus = NULL;
   struct usb_device *dev = NULL;
+  usb_dev_handle *udev = NULL;
 
   for (bus = usb_get_busses(); bus; bus = bus->next)
   {
@@ -2730,13 +2731,51 @@ usb_dev_handle* CSO7_Proto::_open_usb_dev(void)
     {
       if (dev->descriptor.idVendor == SEVENOCEAN_VID && dev->descriptor.idProduct == SEVENOCEAN_PID)
       {
-        return usb_open(dev);
+        udev = usb_open(dev);
+        usb_claim_interface(udev, 0);
+                
+        if(Get_SeqNumber(udev) != sSeqNumber)
+        {
+          usb_close(udev);
+        }
+        else
+        {
+          return udev;
+        }
       }
     }
   }
   return NULL;
 }
 
+//******************************************************************************
+int CSO7_Proto::Get_SeqNumber(usb_dev_handle *udev)
+{
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEQ_NUMBER;
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x02;
+  ep_buff[EP_82_DATA_IDX]._size = 0x01;
+
+  int _ret;
+  _ret = usb_bulk_write(udev, ep_buff[2]._ep, (char *)ep_buff[2]._buffer,(int) ep_buff[2]._size, 50);
+  if (_ret < 0)
+  {
+    return -1;
+  }
+
+  _ret = usb_bulk_read(udev, ep_buff[3]._ep, (char *)ep_buff[3]._buffer,(int)  ep_buff[3]._size, 5000);
+  if (_ret < 0)
+  {
+    return -1;
+  }
+  g_machine.SEQ_NUMBER = -1;
+  g_machine.SEQ_NUMBER = *(ep_buff[EP_82_DATA_IDX]._buffer);
+  return g_machine.SEQ_NUMBER;
+}
+
 //******************************************************************************
 // Send is direct and async.
 // The receive thread will receive data and interpret it. 
@@ -2754,8 +2793,8 @@ SSI_STATUS_MOTION CSO7_Proto::Init_SO7Usb()
   int usb_status = NULL;
   usb_init();                       // initialize the library 
   usb_status = usb_find_busses();   // find all busses 
-  usb_status = usb_find_devices();  // find all connected devices 
-  g_dev = _open_usb_dev();
+  usb_status = usb_find_devices();  // find all connected devices  
+  g_dev = _open_usb_dev(USB_SEQ_NUMBER);
   if (!g_dev)
   {
     MessageBox(NULL, _T("Unable to open device"), _T("Message"), MB_OK|MB_ICONERROR);
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
index 95d9c1a..68361bb 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.h
@@ -22,6 +22,7 @@
 
 #define USB_DEVICE_DESCRIPTOR_TYPE           1
 #define USB_CONFIGURATION_DESCRIPTOR_TYPE    2
+#define USB_SEQ_NUMBER                       0
 
 #define THREAD_RUNNING_STATE1            0
 #define THREAD_RUNNING_STATE2            2
@@ -337,10 +338,11 @@ public:
 	static struct_so7_machine g_machine;
 
 
+  int Get_SeqNumber(usb_dev_handle *udev);
 	SSI_STATUS_MOTION Init_SO7Usb();
 	SSI_STATUS_MOTION Exit_SO7Usb();
 
-	usb_dev_handle* _open_usb_dev(void);
+	usb_dev_handle* _open_usb_dev(unsigned short sSeqNumber);
 	SSI_STATUS_MOTION _do_single_threaded_usb_comm(int iEP);
 
 	SSI_STATUS_MOTION _read_data_8x(int iEP_Base);
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.cpp b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.cpp
new file mode 100644
index 0000000..eb9a2d1
--- /dev/null
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.cpp
@@ -0,0 +1,752 @@
+
+
+#include "stdafx.h"
+#include "SO7_Proto_Aux.h"
+#include "math.h"
+
+
+
+#define MY_CONFIG 1
+#define MAX_DEVPATH_LENGTH 256
+#define ENDPOINT_TIMEOUT   500
+#define MAX_IN_BUFF_SIZE        1024
+
+//*****  Static Data  *****
+static char *outBuff = NULL;
+struct_so7_r_ep_buff  CSO7_Proto_Aux::ep_buff[lEPSIZE];
+//================================================================
+int              CSO7_Proto_Aux::g_hEP8x_Thread_State=THREAD_PAUSED;
+HANDLE           CSO7_Proto_Aux::g_hEP8x_Thread_Id=NULL;
+
+//================================================================
+int              CSO7_Proto_Aux::g_hEP02_Thread_State=THREAD_PAUSED;
+HANDLE           CSO7_Proto_Aux::g_hEP02_Thread_Id=NULL;
+HANDLE           CSO7_Proto_Aux::g_hEP02_Serial_Mutex;
+
+//================================================================
+struct_so7_r_machine  CSO7_Proto_Aux::g_machine;
+usb_dev_handle        *CSO7_Proto_Aux::g_dev=NULL;
+CLogger               *CSO7_Proto_Aux::g_pLogger1;
+HANDLE                CSO7_Proto_Aux::g_hHomedEvent = NULL;
+CLogger* g_pLog1=NULL;
+
+//******************************************************************************
+CSO7_Proto_Aux::CSO7_Proto_Aux()
+{
+  ep_buff[EP_01_CMD_IDX]._ep  = EP_S07_01;
+  ep_buff[EP_81_DATA_IDX]._ep = EP_S07_81;
+  ep_buff[EP_02_CMD_IDX]._ep  = EP_S07_02;
+  ep_buff[EP_82_DATA_IDX]._ep = EP_S07_82;
+
+  for (int i=0;i<lEPSIZE;i++)
+  {
+    ep_buff[i]._size             = 0;
+    ep_buff[i]._save_send_cmd    = 99;
+    ep_buff[i]._async_context    = NULL;
+    ep_buff[i]._buffer           = (char *)malloc(MAX_BUFF_SIZE);
+    ep_buff[i]._hProtoPending    = false;
+    ep_buff[i]._event            = NULL;
+  };
+  for (int i=0;i<20;i++)
+  {
+    for (int j=0;j<2;j++)
+    {
+      g_machine.GetInterruptMsg[i][j]=0;
+    }
+  }
+  g_machine.IsSupportReadInterrputMsg=FALSE;
+  g_machine.IsOffline=TRUE;
+  g_machine.FPGAData=0;
+  g_machine.FirmwareVer=FirmwareVer_3_X_R;
+  g_machine.r._Move_Speed_Gear   =2;
+  g_machine.r._MoveTo_Speed_Gear =0;
+  g_machine.r._pos_fixed._long_  =0;
+  g_machine.r._ZSignal_pos._long_=0;
+
+  g_machine.r._d_cur_pos_  = 0;
+  g_machine.ADC_Number=0;
+  g_machine.ADC_Value =0;
+  g_machine.Sys_Reset_Flag=0;
+  g_machine.cVerNumber=3;   
+  g_machine.dRotaryCirclDis=100;
+  g_machine.SEQ_NUMBER=0;
+  g_machine.s_machine_r_config.r_axis._scale_resolution=0.5;
+
+  g_machine.s_machine_r_config.r_axis._neg_working_limit=0;
+
+  g_machine.s_machine_r_config.r_axis._MoveToSpeed[0]=0.0;
+  g_machine.s_machine_r_config.r_axis._MoveToSpeed[1]=0.0;
+  g_machine.s_machine_r_config.r_axis._MotionSpeedScale=1.0;
+
+  g_machine.s_machine_r_config.motion._EnCloseLoop=FALSE;
+  g_machine.s_machine_r_config.motion._RetryTimes=5;
+  g_machine.s_machine_r_config.motion._ShiftPositionR=0.0;
+
+  g_machine.s_machine_r_config.motion.GetInterruptMsgMethod=E_GET_INTERRUPT_MSG_INTERRUPT;//E_GET_INTERRUPT_MSG_INQUIRY;
+  g_machine.s_machine_r_config.motion.m_WriteDataSleepTime=0;
+  g_machine.s_machine_r_config.motion.m_AccuraErrPulseR=1;
+  g_machine.s_machine_r_config.motion.m_EQUIDIS_R=0;
+
+  g_machine.s_machine_r_config.motion.m_SDK3000_CntThreadSleepVal=550000;
+  g_machine.s_machine_r_config.motion.m_SV4000E_DenoisePara[0]=70;
+  g_machine.s_machine_r_config.motion.m_SV4000E_DenoisePara[1]=70;
+  g_machine.s_machine_r_config.motion.m_SV4000E_DenoisePara[2]=70;
+  g_machine.s_machine_r_config.motion.m_SV4000E_DenoisePara[3]=70;
+  
+  g_machine.s_machine_r_config.motion.m_MachineType=MACHINE_SO7_R_CONTROLLER;
+  g_machine.s_machine_r_config.motion.m_VideoCardType=0;
+
+  g_machine.s_rstatus._bIsZMMotionFinished=0;
+  g_machine.r._scale_pos._long_  =  0;
+  g_machine.r._d_cur_pos_ = 0;
+  g_machine.r._dSet_Zero_Pos  = 0.0;
+  g_machine.r._lSet_Zero_Pos  = 0;
+  g_machine.s_machine_r_config._dRSpeed[0] = 50;
+  g_machine.s_machine_r_config._dRSpeed[1] = 50;
+  g_machine.InterruptFlag[0]=0;
+  g_machine.InterruptFlag[1]=0;
+  g_machine.InPortStatus=0;
+  m_bHomingActive = false;
+  g_pLogger1 = new CLogger(_T("\\UtilityDebug.Log"));
+  g_pLogger1->Send(_T("Construct Cso7_Proto.\r\n"));
+};
+
+//******************************************************************************
+CSO7_Proto_Aux::~CSO7_Proto_Aux()
+{
+  for (int i=0;i<lEPSIZE;i++)
+  {
+    free(ep_buff[i]._buffer);
+  };
+  if (g_pLogger1)
+    g_pLogger1->Send(_T("Destruct Cso7_Proto.\r\n"));
+  delete g_pLogger1;
+  g_pLogger1 = NULL;
+}
+
+#pragma warning(disable:4996)
+//******************************************************************************
+// Send is direct and async.
+// The receive thread will receive data and interpret it. 
+//******************************************************************************
+SSI_STATUS_MOTION CSO7_Proto_Aux::Init_SO7Usb()
+{
+  //Set initial state of the machine
+  g_machine.s_rstatus._machine_running = false;
+  SSI_STATUS_MOTION rStatus=SSI_STATUS_MOTION_NORMAL;
+  g_machine.IsOffline=FALSE;
+  
+  int usb_status = NULL;  
+  usb_init();                       // initialize the library 
+  usb_status = usb_find_busses();   // find all busses 
+  usb_status = usb_find_devices();  // find all connected devices  
+  g_dev = _open_usb_dev(USB_R_SEQ_NUMBER);
+  if (!g_dev)
+  {
+    MessageBox(NULL, _T("Unable to open device"), _T("Message"), MB_OK|MB_ICONERROR);
+    g_pLogger1->SendAndFlushPerMode(_T("Unable to open device %s \r\n"), usb_strerror());
+    g_machine.IsOffline=TRUE;   
+    rStatus= SSI_STATUS_MOTION_DATALINK_ERROR;
+  }
+  else if (usb_set_configuration(g_dev, MY_CONFIG) < 0)
+  {
+    MessageBox(NULL, _T("Unable to SET CONFIGURATION"), _T("Message"), MB_OK|MB_ICONERROR);
+    g_machine.IsOffline=TRUE;   
+    rStatus=SSI_STATUS_MOTION_DATALINK_ERROR;
+  }
+  else if (usb_claim_interface(g_dev, 0) < 0)
+  {
+    usb_close(g_dev);
+    MessageBox(NULL, _T("Unable to CLAIM DEVICE"), _T("Message"), MB_OK|MB_ICONERROR);
+    g_machine.IsOffline=TRUE;   
+    rStatus=SSI_STATUS_MOTION_DATALINK_ERROR;
+  }
+
+  g_pLogger1->SendAndFlushPerMode(_T("Init:Open device succeed .\r\n"));
+
+  // ********************************************************************
+  // This event is used to kick the Serial Usb Command process.  This threading model
+  // is important because the underlying library is not thread-safe.
+  //
+  ep_buff[EP_02_CMD_IDX]._event = CreateEvent(NULL,      // default security attributes
+    FALSE,     // manual reset event object
+    NULL,      // signaled
+    NULL);     // unamed object
+
+  g_hEP02_Thread_Id    = CreateThread( (LPSECURITY_ATTRIBUTES) NULL,
+    0,
+    (LPTHREAD_START_ROUTINE) g_EP02_Thread,
+    (LPVOID) this,
+    0,
+    NULL);
+  g_hEP02_Thread_State = THREAD_RUNNING_STATE1;
+
+  // ********************************************************************
+  // Prepare and start EP_S07_81 Thread - Use async commit.
+  //
+  ep_buff[EP_82_DATA_IDX]._event    = CreateEvent(NULL,   // default security attributes
+    FALSE,  // manual reset event object
+    NULL,   // signaled
+    NULL);  // unamed object
+  g_hEP8x_Thread_State  = THREAD_PAUSED;
+  g_hEP8x_Thread_Id = CreateThread( (LPSECURITY_ATTRIBUTES) NULL,
+    0,
+    (LPTHREAD_START_ROUTINE) g_EP8x_Thread,
+    (LPVOID) this,
+    0,
+    NULL);
+  g_hEP02_Serial_Mutex = CreateMutex(NULL,     // default security attributes
+    FALSE,     // initial owner
+    NULL);     // name
+
+  // *********************************************************************
+  g_hHomedEvent    = CreateEvent(NULL,   // default security attributes
+    TRUE,   // manual reset event object
+    FALSE,   // initial state is signaled
+    NULL);  // unamed object
+
+  return rStatus;
+}
+
+//******************************************************************************
+SSI_STATUS_MOTION CSO7_Proto_Aux::Exit_SO7Usb()
+{
+  SSI_STATUS_MOTION Status=SSI_STATUS_MOTION_NORMAL;
+
+  g_hEP8x_Thread_State  = THREAD_EXIT;
+  g_hEP02_Thread_State  = THREAD_EXIT;
+
+  SetEvent(ep_buff[EP_82_DATA_IDX]._event);
+  if (g_hEP8x_Thread_Id)
+  {
+    DWORD dwCode = STILL_ACTIVE;
+    while (dwCode == STILL_ACTIVE)
+    {
+      GetExitCodeThread(g_hEP8x_Thread_Id,&dwCode);
+      Sleep(1);
+    }
+  }
+
+  SetEvent(ep_buff[EP_02_CMD_IDX]._event);
+  if (g_hEP02_Thread_Id)
+  {
+    DWORD dwCode = STILL_ACTIVE;
+    while (dwCode == STILL_ACTIVE)
+    {
+      GetExitCodeThread(g_hEP02_Thread_Id,&dwCode);
+      Sleep(1);
+    }
+  }
+
+  if (g_dev)
+  {
+    usb_release_interface(g_dev,0);
+    usb_close(g_dev);
+    g_dev = NULL;
+  }
+
+  SetEvent(ep_buff[EP_82_DATA_IDX]._event);
+  CloseHandle(ep_buff[EP_82_DATA_IDX]._event);
+  SetEvent(ep_buff[EP_02_CMD_IDX]._event);
+  CloseHandle(ep_buff[EP_02_CMD_IDX]._event);
+  g_hEP02_Thread_State = THREAD_EXIT;
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  CloseHandle(g_hEP02_Serial_Mutex);
+
+  g_pLogger1->SendAndFlushPerMode(_T("Exit: Exit_SO7Usb \r\n"));
+  return Status;
+}
+
+//******************************************************************************
+usb_dev_handle* CSO7_Proto_Aux::_open_usb_dev(unsigned short sSeqNumber)
+{
+  struct usb_bus *bus = NULL;
+  struct usb_device *dev = NULL;
+  usb_dev_handle *udev = NULL;
+
+  for (bus = usb_get_busses(); bus; bus = bus->next)
+  {
+    for (dev = bus->devices; dev; dev = dev->next)
+    {
+      if (dev->descriptor.idVendor == SEVENOCEAN_VID && dev->descriptor.idProduct == SEVENOCEAN_PID)
+      {
+        udev = usb_open(dev);
+        usb_claim_interface(udev, 0);
+                
+        if(Get_R_SeqNumber(udev) != sSeqNumber)
+        {
+          usb_close(udev);
+        }
+        else
+        {
+          return udev;
+        }
+      }
+    }
+  }
+  return NULL;
+}
+
+//******************************************************************************
+int CSO7_Proto_Aux::Get_R_SeqNumber(usb_dev_handle *udev)
+{
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEQ_NUMBER;
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x02;
+  ep_buff[EP_82_DATA_IDX]._size = 0x01;
+
+  int _ret;
+  _ret = usb_bulk_write(udev, ep_buff[2]._ep, (char *)ep_buff[2]._buffer,(int)ep_buff[2]._size, 50);
+  if (_ret < 0)
+  {
+    return -1;
+  }
+
+  _ret = usb_bulk_read(udev, ep_buff[3]._ep, (char *)ep_buff[3]._buffer,(int)ep_buff[3]._size, 5000);
+  if (_ret < 0)
+  {
+    return -1;
+  }
+
+  g_machine.SEQ_NUMBER = -1;
+  g_machine.SEQ_NUMBER = *(ep_buff[EP_82_DATA_IDX]._buffer);
+  return g_machine.SEQ_NUMBER;
+}
+
+//===========================================================================
+//  Worker Thread to serialize EP_S07_02 commands.
+//===========================================================================
+unsigned __stdcall CSO7_Proto_Aux::g_EP02_Thread(LPVOID pThis)
+{
+  CSO7_Proto_Aux* _This = (CSO7_Proto_Aux*)pThis;
+  for (;;)
+  {
+    if (g_hEP02_Thread_State == THREAD_EXIT) 
+      ExitThread(0);
+    WaitForSingleObject(ep_buff[EP_02_CMD_IDX]._event,INFINITE);
+    switch (g_hEP02_Thread_State)
+    {
+    case THREAD_EXIT:
+      {
+        ExitThread(0);
+      }
+    case THREAD_PAUSED:
+      break;
+    case THREAD_RUNNING_STATE1:
+      { 
+        _This->_send_usb_cmd(EP_02_CMD_IDX);
+        break;
+      }
+    case THREAD_RUNNING_STATE2:
+      { 
+        _This->_write_usb_data_only(EP_02_CMD_IDX);
+        break;
+      }
+    default:
+      ExitThread(0);
+    }
+  };
+  g_hEP02_Thread_State = THREAD_EXIT;
+  ExitThread(0);
+};
+
+//******************************************************************************
+// This is the worker thread to process USBD_TRANSFER_DIRECTION_IN
+//******************************************************************************
+unsigned __stdcall CSO7_Proto_Aux::g_EP8x_Thread(LPVOID pThis)
+{
+  CSO7_Proto_Aux* _This = (CSO7_Proto_Aux*)pThis;
+  for (;;)
+  {
+    if (g_hEP8x_Thread_State == THREAD_EXIT) 
+      ExitThread(0);
+    WaitForSingleObject(ep_buff[EP_82_DATA_IDX]._event, INFINITE);
+    switch (g_hEP8x_Thread_State)
+    {
+    case THREAD_EXIT:
+      {
+        ExitThread(0);
+      }
+    case THREAD_PAUSED:
+      break;
+    case THREAD_RUNNING_STATE1:
+      {
+        _This->_read_data_8x(EP_81_DATA_IDX);
+        break;
+      }
+    case THREAD_RUNNING_STATE2:
+      {
+        _This->_read_data_8x(EP_82_DATA_IDX);
+        break;
+      }
+    default:
+      ExitThread(0);
+    }
+  }
+}
+
+//===============================================================================
+// _send_usb_cmd(iEP) sends data to the corresponding iEP channel.
+//     iEP = EP_S07_01 / EP_S07_02        EP_S07_01 = 0x01; EP_S07_02 = 0x02;
+//===============================================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_usb_cmd(int iEP_Base)
+{
+  if (g_machine.IsOffline)
+  {
+    SetEvent(ep_buff[iEP_Base+1]._event);
+    ep_buff[iEP_Base]._hProtoPending = false;
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+  int _ret;
+  ep_buff[iEP_Base]._save_send_cmd  = ep_buff[iEP_Base]._buffer[0];
+  ep_buff[iEP_Base]._save_send_cmd0 = ep_buff[iEP_Base]._buffer[1];
+  ep_buff[iEP_Base]._save_send_cmd1 = ep_buff[iEP_Base]._buffer[2];
+
+  _ret = usb_bulk_write(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int) ep_buff[iEP_Base]._size, 50);
+  if (_ret < 0)
+  {
+    TRACE("Write Timeout \n");
+    ASSERT(0);
+    return SSI_STATUS_MOTION_TIMEOUT;
+  }
+
+  SetEvent(ep_buff[iEP_Base+1]._event);
+  ep_buff[iEP_Base]._hProtoPending = false;
+  return SSI_STATUS_MOTION_NORMAL;
+}
+
+//===============================================================================
+// _write_usb_data_only(iEP) sends data to the corresponding iEP channel.No need to 
+//process the reap async
+//     iEP = EP_S07_01 / EP_S07_02        EP_S07_01 = 0x01; EP_S07_02 = 0x02;
+//===============================================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_write_usb_data_only(int iEP_Base)
+{
+  if (g_machine.IsOffline)
+  {
+    ep_buff[iEP_Base]._hProtoPending = false;
+    ep_buff[iEP_Base+1]._hProtoPending = false;
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+  int _ret;
+  ep_buff[iEP_Base]._save_send_cmd  = ep_buff[iEP_Base]._buffer[0];
+  ep_buff[iEP_Base]._save_send_cmd0 = ep_buff[iEP_Base]._buffer[1];
+  ep_buff[iEP_Base]._save_send_cmd1 = ep_buff[iEP_Base]._buffer[2];
+
+  //TRACE3("_send_usb_cmd()  iEP : %X - ep_buff[iEP]._save_send_cmd : %X ._buffer[0] : %X\r\n", iEP_Base, ep_buff[iEP_Base]._save_send_cmd, ep_buff[iEP_Base]._buffer[0]);
+
+  _ret = usb_bulk_write(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int) ep_buff[iEP_Base]._size, 50);
+  if (_ret < 0)
+  {
+    TRACE("Write Timeout \n");
+    ASSERT(0);
+    return SSI_STATUS_MOTION_TIMEOUT;
+  }
+  ep_buff[iEP_Base]._hProtoPending = false;
+  ep_buff[iEP_Base+1]._hProtoPending = false;
+  return SSI_STATUS_MOTION_NORMAL;
+}
+
+//===============================================================================
+// iEP_Base : EP_81_DATA_IDX/EP_82_DATA_IDX
+//===============================================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_read_data_8x(int iEP_Base)
+{	
+  if (g_machine.IsOffline)
+  {
+    ep_buff[EP_82_DATA_IDX]._hProtoPending = false;
+    ep_buff[EP_01_CMD_IDX]._hProtoPending = false;
+    ep_buff[EP_81_DATA_IDX]._hProtoPending = false;
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+  if (iEP_Base == EP_82_DATA_IDX)
+  {
+    int _ret;
+    _ret = usb_bulk_read(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int)  ep_buff[iEP_Base]._size, 5000);
+    if (_ret > 0)
+    {
+      _process_rcv_transfer_data(iEP_Base);
+      ep_buff[EP_82_DATA_IDX]._hProtoPending = false;
+    }
+    else
+    {
+      TRACE1("Read Timeout %xx\n", *((char *)ep_buff[iEP_Base]._buffer));
+      ASSERT(0);
+      return SSI_STATUS_MOTION_TIMEOUT;
+    }
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+  else
+  {
+    int _ret;
+    _ret = usb_interrupt_read(g_dev, ep_buff[iEP_Base]._ep, (char *)ep_buff[iEP_Base]._buffer,(int)  ep_buff[iEP_Base]._size, 20);
+    if (_ret > 0)
+    {
+      _process_rcv_transfer_data(iEP_Base);
+    }
+    else
+    {
+      g_machine.InterruptFlag[0] = 0;
+      TRACE1("There is no data interrupt read from controller.  %xx\n", *((char *)ep_buff[iEP_Base]._buffer));
+    }
+
+    ep_buff[EP_01_CMD_IDX]._hProtoPending = false;
+    ep_buff[EP_81_DATA_IDX]._hProtoPending = false;
+    return SSI_STATUS_MOTION_NORMAL;
+  }
+}
+
+//******************************************************************************
+// Parse the data received based on the index (which EP are we processing).
+// The CCmdObj should only have one CMD_STATUS_PROCESSING.
+// Update CCmdObj _ep_01_status and _ep_81_status.  
+// Update _status to CMD_STATUS_COMPLETE when both _ep_01_status and _ep_81_status 
+// are CMD_STATUS_COMPLETE.
+//
+//******************************************************************************
+void CSO7_Proto_Aux::_process_rcv_transfer_data(int iEP)
+{
+  switch (iEP)
+  {
+  case EP_01_CMD_IDX :
+    TRACE0("_process_rcv_transfer_data() : Update EP_01_CMD_IDX.\r\n");
+    break;
+  case EP_82_DATA_IDX :   // 
+    if(ep_buff[EP_02_CMD_IDX]._save_send_cmd == CT_DATA)
+    {
+      switch (ep_buff[EP_02_CMD_IDX]._save_send_cmd0)
+      {
+      case CT_READ_AXISXYZ:
+        _process_SO7_CMD_READ_AXIS_R();
+        break;
+      case CT_READ_SEC_REALY:
+        _process_SO7_CMD_READ_ZSIGNAL_POS_R();
+        break;
+
+      default:
+        TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
+        TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
+        break;
+      };
+    }
+    break;
+  case EP_02_CMD_IDX :
+    TRACE0("_process_rcv_transfer_data() : Update EP_02_CMD_IDX.\r\n");
+    break;
+  case EP_81_DATA_IDX :
+
+    TRACE0("_process_rcv_transfer_data() : Update EP_81_DATA_IDX.\r\n");
+    break;
+  default:
+    break;
+  };
+};
+
+//******************************************************************************
+// Kick the g_hEP01_Thread_Event to get the g_EP01_Thread going.
+// iEP = EP_S07_01 or EP_S07_02    = 0x01 or 0x02
+//******************************************************************************
+SSI_STATUS_MOTION CSO7_Proto_Aux::_do_single_threaded_usb_comm(int iEP_Base)
+{
+  while ((ep_buff[iEP_Base]._hProtoPending == TRUE) || (ep_buff[iEP_Base+1]._hProtoPending == TRUE))
+  {
+    ASSERT(0);
+    Sleep(3);
+  }
+  ep_buff[iEP_Base]._hProtoPending = ep_buff[iEP_Base+1]._hProtoPending = TRUE;
+
+  if (iEP_Base == EP_01_CMD_IDX)
+    SetEvent(ep_buff[EP_82_DATA_IDX]._event);
+  else
+    SetEvent(ep_buff[iEP_Base]._event);
+  while ((ep_buff[iEP_Base]._hProtoPending == TRUE) || (ep_buff[iEP_Base+1]._hProtoPending == TRUE))
+  {
+    Sleep(3);
+  }
+
+  return SSI_STATUS_MOTION_NORMAL;
+}
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_process_SO7_CMD_READ_AXIS_R()
+{
+  g_machine.r._scale_pos._long_=0;
+  g_machine.r._scale_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
+  g_machine.r._scale_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
+  g_machine.r._scale_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
+  g_machine.r._scale_pos._char_[3] = 0;
+  if (g_machine.r._scale_pos._long_ > 8388608)
+    g_machine.r._scale_pos._long_ = g_machine.r._scale_pos._long_ - 16777216;
+
+  return SSI_STATUS_MOTION_NORMAL;
+};
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_process_SO7_CMD_READ_ZSIGNAL_POS_R()
+{
+  g_machine.r._ZSignal_pos._char_[2] = *(ep_buff[EP_82_DATA_IDX]._buffer);
+  g_machine.r._ZSignal_pos._char_[1] = *(ep_buff[EP_82_DATA_IDX]._buffer+1);
+  g_machine.r._ZSignal_pos._char_[0] = *(ep_buff[EP_82_DATA_IDX]._buffer+2);
+  g_machine.r._ZSignal_pos._char_[3] = 0;
+
+  if (g_machine.r._ZSignal_pos._long_ > 8388608)
+    g_machine.r._ZSignal_pos._long_=g_machine.r._ZSignal_pos._long_-16777216;
+
+  return SSI_STATUS_MOTION_NORMAL;
+}
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_cmd_SO7_CMD_RESET_R(int iType)
+{
+  iType++;
+  WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer)   = CT_SCALE;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_RESET_FLAG;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+2) = 0x01;
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x03;
+  ep_buff[EP_82_DATA_IDX]._size = 0x02;
+  
+  g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
+  _do_single_threaded_usb_comm(EP_02_CMD_IDX);
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  return SSI_STATUS_MOTION_NORMAL;
+};
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_cmd_SO7_CMD_MOVE_R(int iType, int iMoveAngle)
+{  
+  WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  g_machine.r._pos_fixed._long_ = (ONE_R_PULSE * iMoveAngle / 360);
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
+  if(iType)
+  {
+    *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVETOY;
+  }
+  else
+  {
+    *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVETOX;
+  }
+  *(ep_buff[EP_02_CMD_IDX]._buffer+2)=(((g_machine.r._pos_fixed._char_[3])<0x80)?(g_machine.r._pos_fixed._char_[2]):((g_machine.r._pos_fixed._char_[2])|0x80));//最高位
+  *(ep_buff[EP_02_CMD_IDX]._buffer+3)=(g_machine.r._pos_fixed._char_[1]);
+  *(ep_buff[EP_02_CMD_IDX]._buffer+4)=(g_machine.r._pos_fixed._char_[0]);
+    
+  ep_buff[EP_02_CMD_IDX]._size = 0x07;
+  ep_buff[EP_81_DATA_IDX]._size = 0x07;  
+
+  g_hEP02_Thread_State = THREAD_RUNNING_STATE2;
+  _do_single_threaded_usb_comm(EP_02_CMD_IDX);
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  return SSI_STATUS_MOTION_NORMAL;
+};
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_cmd_SO7_CMD_READ_AXIS_R()
+{
+  WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_AXISXYZ;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+2)=0x00;
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x03;
+  ep_buff[EP_82_DATA_IDX]._size = 0x09;
+
+  g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
+  g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
+  _do_single_threaded_usb_comm(EP_02_CMD_IDX);
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  return SSI_STATUS_MOTION_NORMAL;
+};
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_cmd_SO7_CMD_READ_ZSIGNAL_POS_R(int iType)
+{
+  WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
+  if(iType)
+  {
+    *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEC_REALY;
+  }
+  else
+  {
+    *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_READ_SEC_REALX;
+  }
+  *(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x03;
+  ep_buff[EP_82_DATA_IDX]._size = 0x03;
+
+  g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
+  g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
+  _do_single_threaded_usb_comm(EP_02_CMD_IDX);
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  return SSI_STATUS_MOTION_NORMAL;
+}
+
+//******************************************************************************
+long CSO7_Proto_Aux::GetRCurrentPosition(int iType)
+{
+  long ztos = -1;
+  _send_cmd_SO7_CMD_READ_AXIS_R();
+  _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_R(iType);
+  ztos = abs(g_machine.r._scale_pos._long_ - g_machine.r._ZSignal_pos._long_);
+  if(ztos > 8388608)
+  {
+    ztos = ztos - 9413433;
+  }
+
+  return (ztos * 360 / 4720000);
+}
+
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_cmd_SO7_CMD_STOP_R(int iType)
+{
+  iType++;
+  WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_STOPA;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+2)=0x00;
+
+  TRACE("[STOP_R]\n");
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x04;
+  ep_buff[EP_81_DATA_IDX]._size = 0x04;
+
+  g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
+  _do_single_threaded_usb_comm(EP_02_CMD_IDX);
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  return SSI_STATUS_MOTION_NORMAL;
+};
+
+//==============================================================
+SSI_STATUS_MOTION CSO7_Proto_Aux::_send_cmd_SO7_CMD_SET_SEQ_NUMBER()
+{
+  WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
+  memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
+
+  *(ep_buff[EP_02_CMD_IDX]._buffer) = CT_DATA;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_WRITE_SEQ_NUMBER;
+  *(ep_buff[EP_02_CMD_IDX]._buffer+2)=g_machine.SEQ_NUMBER;
+
+  ep_buff[EP_02_CMD_IDX]._size = 0x03;
+  ep_buff[EP_81_DATA_IDX]._size = 0x45;
+
+  g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
+  _do_single_threaded_usb_comm(EP_02_CMD_IDX);
+  ReleaseMutex(g_hEP02_Serial_Mutex);
+  return SSI_STATUS_MOTION_NORMAL;
+}
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.h b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.h
new file mode 100644
index 0000000..25e08be
--- /dev/null
+++ b/PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto_Aux.h
@@ -0,0 +1,304 @@
+// protocol for control SevenOcean's Machine
+//
+//////////////////////////////////////////////////////////////////////
+#ifndef AFX_SO7_Proto_Aux_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
+  #define AFX_SO7_Proto_Aux_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
+
+#if _MSC_VER > 1000
+  #pragma once
+#endif // _MSC_VER > 1000
+
+#include "..\Tools\UsbUtility\logger.h"
+#include "CMD_H.h"
+#include "..\..\..\..\..\ThirdParty\UsbSupport\LibUsb_Win\Include\lusb0_usb.h"
+#include "..\MicroVu\SsiStatus.h"
+
+#define MAX_BUFF_SIZE                    0x200
+#define USB_R_SEQ_NUMBER                 1
+#define RSPEEDGEAR                       1
+#define ONE_R_PULSE                      590000
+#define TYPER1                           0
+#define TYPER2                           1
+
+#define USB_ENDPOINT_TYPE_CONTROL            0
+#define USB_ENDPOINT_TYPE_ISOCHRONOUS        1
+#define USB_ENDPOINT_TYPE_BULK               2
+#define USB_ENDPOINT_TYPE_INTERRUPT          3
+
+#define USB_DEVICE_DESCRIPTOR_TYPE           1
+#define USB_CONFIGURATION_DESCRIPTOR_TYPE    2
+
+#define THREAD_RUNNING_STATE1            0
+#define THREAD_RUNNING_STATE2            2
+#define THREAD_PAUSED                    1
+#define THREAD_EXIT                      -1
+
+// Device configuration and interface id.
+#define SO7_USB_CONFIG             1
+#define SO7_USB_INTF               0
+
+#define EP_S07_01                     0x01
+#define EP_S07_02                     0x02
+#define EP_S07_03                     0x03
+#define EP_S07_81                     0x81
+#define EP_S07_82                     0x82
+#define EP_S07_84                     0x84
+
+#define EP_01_CMD_IDX             0  // index to usb buffers
+#define EP_81_DATA_IDX            1  // 
+#define EP_02_CMD_IDX             2  // 
+#define EP_82_DATA_IDX            3  // 
+#define EP_03_CMD_IDX             4  // 
+#define EP_84_DATA_IDX            5  // 
+
+#define lEPSIZE                   6
+#define MAXRINGS                  5  // for MicroVu Vertex 220
+#define MAXSEGS                   8
+
+#define TWO_RINGS                 2
+#define EIGHT_SEGS                8
+#define FIVE_RINGS                5
+
+enum EMACHINERTYPE
+{
+  MACHINE_SO7_R_CONTROLLER,
+  MACHINE_METRONICS_CONTROLLER_R,
+  MACHINE_TOTAL_R=255
+};
+enum EFirmwareRVer
+{
+  FirmwareVer_3_X_R=0,
+  FirmwareVer_6_X_R,
+  FirmwareVer_Total_R
+};
+
+#pragma pack(push)
+#pragma pack(1)
+//****************************************************************************************************
+// Set the _status to Idle after reply data has been received.
+//       How to recover? In order to send data, _status must be Idle.  If the system is not available 
+//       for 1 second, assume something wrong and treat it as "TimeOut".
+//       Another way to do this is to lock this structure is to use a mutex to ensure single-threaded
+//       access.
+//****************************************************************************************************
+//====================================================================================================
+
+typedef struct s_so7_r_axis            // axis parameters
+{
+	char _Move_Speed_Gear;
+  char _MoveTo_Speed_Gear;
+	union
+	{
+	  long _long_;
+	  char _char_[4];
+	}_pos_fixed;
+	union
+	{
+		long _long_;
+		char _char_[4];
+	}_scale_pos;
+  union
+  {
+    long _long_;
+    char _char_[4];
+  }_ZSignal_pos;
+	double _d_cur_pos_;
+	long   _scale_probe;
+	double _dSet_Zero_Pos;
+	long   _lSet_Zero_Pos;
+} SO7RAXIS;
+
+struct s_so7_r_axis_config     // axis configuration
+{
+	double _motor_precision;//set precision
+	double _motor_wheelbase;//set wheelbase
+	char _speed_base[5];
+	char _speed_fresh[5];
+	char _speed_start[5];
+	char _speed_max[5];
+	double _speed_slow_dis[5];
+
+  double _MoveToSpeed[2];
+  double _MotionSpeedScale;
+
+	long _scale_range;
+	double _neg_working_limit;
+	double _pos_working_limit;
+  double _scale_resolution;
+	bool _bhomed;
+};
+
+struct s_so7_r_machine_interface_config
+{
+  BOOL   _EnCloseLoop;
+  int    _RetryTimes;
+  double _ShiftPositionR;
+  char   GetInterruptMsgMethod;
+  INT    m_WriteDataSleepTime;
+  INT    m_AccuraErrPulseR;
+  INT    m_EQUIDIS_R;
+  INT    m_SDK3000_CntThreadSleepVal;
+  INT    m_SV4000E_DenoisePara[4];
+  INT    m_MachineType;
+  INT    m_VideoCardType;
+};
+
+//======================
+typedef struct s_so7_r
+{
+	bool bFast;
+	long from;
+	long to;
+	long speed;
+	long acc;
+	long dec;
+	double dFromMM;
+	double dToMM;
+} SO7RAXISMOVE; 
+//--------------------------------------------------------------------
+// 
+//--------------------------------------------------------------------
+struct struct_so7_r_machine
+{   // g_machine structure
+	struct s_machine_r_config
+	{
+		double _dRSpeed[2];
+		
+		struct s_so7_r_axis_config    r_axis;
+    struct s_so7_r_machine_interface_config motion;
+	} s_machine_r_config;
+
+	struct s_rstatus
+	{
+		bool _homed;
+		bool _machine_running;
+		bool _bRMoving;
+    char _bIsZMMotionFinished;
+		bool _bRIdle;
+	} s_rstatus;
+  
+	char ADC_Number;
+	int  ADC_Value;
+	char Sys_Reset_Flag;
+	char cVerNumber;
+	char InterruptFlag[2];
+  char FPGAData;
+  char InPortStatus;
+	int _motor_pulse_num;      
+  char FirmwareInfo[10];
+  int  FirmwareVer;
+  char GetInterruptMsg[20][2];
+  BOOL IsOffline;
+  BOOL IsSupportReadInterrputMsg;
+  double dRotaryCirclDis;
+  char   SEQ_NUMBER;
+	struct s_so7_r_axis   r;
+	struct s_so7_r_axis   r1;
+};
+
+#define SEVENOCEAN_VID  0x4532
+#define SEVENOCEAN_PID  0x5567
+//****************************************************************************************************
+//   Binary SevenOcean command structure, out going
+//
+//****************************************************************************************************
+#define pSO7_CMD_02 ((s_SO7_CMD_BUFF_02 *) ep_buff[EP_02_CMD_IDX]._buffer)
+
+struct s_SO7_R_CMD_BUFF_02
+{
+	UCHAR    uCmdByte;
+	union 
+	{
+		struct  
+		{
+			BYTE uSubCmdByte;
+			char data[12];
+		}s_SO7_CMD_MOVE_TO_XYZ;
+		struct  
+		{
+			BYTE uSubCmdByte;
+			char data[12];
+		}s_SO7_CMD_MOVETOXYZV;
+		struct  
+		{
+			BYTE uSubCmdByte;
+			BYTE uStartCmdByte;
+			char _bottom_light;
+			char _top_light;
+			char _ring_light;
+			char _coaxial_light;
+			char _spare_light1;
+			char _outer_ring_light_switch;
+			char _inner_ring_light_switch;
+			BYTE uEndCmdByte;
+		}s_SO7_CMD_SET_LIGHT;
+	};
+};
+
+#pragma pack(pop)
+
+//======================
+struct struct_so7_r_ep_buff
+{
+	int      _ep;
+	BYTE     _save_send_cmd;
+	BYTE     _save_send_cmd0;
+	BYTE     _save_send_cmd1;
+	char    *_buffer;      // MAX_BUFF_SIZE
+	int      _size;
+	void    *_async_context;
+	BOOL     _hProtoPending;
+	HANDLE   _event;
+};
+
+//======================================================================================
+class CSO7_Proto_Aux
+{
+public:
+	// EP 81/82 channel threads.
+	static int     g_hEP8x_Thread_State;
+	static unsigned __stdcall g_EP8x_Thread(LPVOID pThis);
+	static HANDLE  g_hEP8x_Thread_Id;
+
+	// EP 02channel threads.
+	static int       g_hEP02_Thread_State;
+	static unsigned  __stdcall g_EP02_Thread(LPVOID pThis);
+	static HANDLE    g_hEP02_Thread_Id;
+	static HANDLE    g_hEP02_Serial_Mutex;             // EP02
+
+	static HANDLE    g_hHomedEvent;
+  
+	static struct_so7_r_ep_buff ep_buff[lEPSIZE];
+	static struct_so7_r_machine g_machine;
+  
+  static CLogger* g_pLogger1;
+	static usb_dev_handle *g_dev; 
+	bool m_bHomingActive;
+
+	//
+	CSO7_Proto_Aux();
+	virtual ~CSO7_Proto_Aux();
+
+	// Global Structures
+	SSI_STATUS_MOTION Init_SO7Usb();
+	SSI_STATUS_MOTION Exit_SO7Usb();
+
+	usb_dev_handle* _open_usb_dev(unsigned short sSeqNumber);
+  int Get_R_SeqNumber(usb_dev_handle *udev);
+  SSI_STATUS_MOTION _send_usb_cmd(int iEP_Base);
+  SSI_STATUS_MOTION _write_usb_data_only(int iEP_Base);
+  SSI_STATUS_MOTION _read_data_8x(int iEP_Base);
+  static void _process_rcv_transfer_data(int iEP);
+	SSI_STATUS_MOTION _do_single_threaded_usb_comm(int iEP);
+
+	static SSI_STATUS_MOTION _process_SO7_CMD_READ_AXIS_R();
+  static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZSIGNAL_POS_R();
+	SSI_STATUS_MOTION _send_cmd_SO7_CMD_RESET_R(int iType);
+	SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_R(int iType, int iMoveAngle);
+	SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_AXIS_R();
+  SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_R(int iType);
+  long GetRCurrentPosition(int iType);
+	SSI_STATUS_MOTION _send_cmd_SO7_CMD_STOP_R(int iType);
+  SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SEQ_NUMBER();
+};
+#endif
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log
index c07f320..c70f4ee 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/Debug/UtilityDebug.Log
@@ -4171,7 +4171,9 @@ _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

 Construct Cso7_Proto.

-Init:Open device succeed .

+Unable to open device Init:Open device succeed .

+Construct Cso7_Proto.

+Unable to open device Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

@@ -4182,29 +4184,74 @@ Exit: Exit_SO7Usb
 Destruct Cso7_Proto.

 Construct Cso7_Proto.

 Init:Open device succeed .

+Unable to open device Init:Open device succeed .

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

 Construct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

 Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

 Construct Cso7_Proto.

 Init:Open device succeed .

-_start_machine
-Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

 Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

 Construct Cso7_Proto.

 Init:Open device succeed .

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Construct Cso7_Proto.

+Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

+Unable to open device Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

 Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

@@ -4226,6 +4273,25 @@ Exit: Exit_SO7Usb
 Destruct Cso7_Proto.

 Construct Cso7_Proto.

 Init:Open device succeed .

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Construct Cso7_Proto.

+Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

@@ -4236,6 +4302,33 @@ Exit: Exit_SO7Usb
 Destruct Cso7_Proto.

 Construct Cso7_Proto.

 Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Init:Open device succeed .

@@ -4251,6 +4344,43 @@ Construct Cso7_Proto.
 Destruct Cso7_Proto.

 Construct Cso7_Proto.

 Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Init:Open device succeed .

+_start_machine
+Exit: Exit_SO7Usb 

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Construct Cso7_Proto.

+Destruct Cso7_Proto.

+Construct Cso7_Proto.

+Init:Open device succeed .

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Init:Open device succeed .

+Exit: Exit_SO7Usb 

+Construct Cso7_Proto.

+Unable to open device Init:Open device succeed .

 _start_machine
 Exit: Exit_SO7Usb 

 Destruct Cso7_Proto.

diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Mv_Util.rc b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Mv_Util.rc
index f2f886c..ce9152c 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Mv_Util.rc
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Mv_Util.rc
@@ -16,7 +16,7 @@
 #undef APSTUDIO_READONLY_SYMBOLS
 
 /////////////////////////////////////////////////////////////////////////////
-// Chinese (Simplified, PRC) resources
+// 中文(简体，中国) resources
 
 #if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_CHS)
 LANGUAGE LANG_CHINESE, SUBLANG_CHINESE_SIMPLIFIED
@@ -401,24 +401,25 @@ CAPTION "Utility for SO7"
 FONT 8, "MS Shell Dlg", 400, 0, 0x1
 BEGIN
     CONTROL         "SDK3000视频卡",IDC_RADIO_VIDEOCARD_SDK3000,"Button",BS_AUTORADIOBUTTON | WS_GROUP,39,39,69,10
-    CONTROL         "SV2000E视频卡",IDC_RADIO_VIDEOCARD_SV2000E,"Button",BS_AUTORADIOBUTTON,39,56,69,10
-    CONTROL         "SV4000E视频卡",IDC_RADIO_VIDEOCARD_SV4000E,"Button",BS_AUTORADIOBUTTON,39,73,68,10
-    CONTROL         "TC4000视频卡",IDC_RADIO_VIDEOCARD_TC4000,"Button",BS_AUTORADIOBUTTON,39,90,69,10
-    CONTROL         "IP Camera",IDC_RADIO_SO7_IP_CAMERA,"Button",BS_AUTORADIOBUTTON,39,107,62,10
-    CONTROL         "USB Camera",IDC_RADIO_SO7_USB_CAMERA,"Button",BS_AUTORADIOBUTTON,39,124,62,10
+    CONTROL         "SV2000E视频卡",IDC_RADIO_VIDEOCARD_SV2000E,"Button",BS_AUTORADIOBUTTON,39,55,69,10
+    CONTROL         "SV4000E视频卡",IDC_RADIO_VIDEOCARD_SV4000E,"Button",BS_AUTORADIOBUTTON,39,71,68,10
+    CONTROL         "TC4000视频卡",IDC_RADIO_VIDEOCARD_TC4000,"Button",BS_AUTORADIOBUTTON,39,87,69,10
+    CONTROL         "IP Camera",IDC_RADIO_SO7_IP_CAMERA,"Button",BS_AUTORADIOBUTTON,39,103,62,10
+    CONTROL         "USB Camera",IDC_RADIO_SO7_USB_CAMERA,"Button",BS_AUTORADIOBUTTON,39,119,62,10
     CONTROL         "控制器（USB）",IDC_RADIO_CONTROLLER,"Button",BS_AUTORADIOBUTTON,166,39,69,10
-    CONTROL         "控制器（RS232）",IDC_RADIO__SO7_RS232,"Button",BS_AUTORADIOBUTTON,166,56,77,10
-    CONTROL         "LK_G激光",IDC_RADIO_KEYENCE_LASER,"Button",BS_AUTORADIOBUTTON,166,73,76,10
-    CONTROL         "LK_H激光(USB)",IDC_RADIO_KEYENCE_LASER_LK_H,"Button",BS_AUTORADIOBUTTON,166,90,76,10
+    CONTROL         "控制器（RS232）",IDC_RADIO__SO7_RS232,"Button",BS_AUTORADIOBUTTON,166,71,77,10
+    CONTROL         "LK_G激光",IDC_RADIO_KEYENCE_LASER,"Button",BS_AUTORADIOBUTTON,166,87,76,10
+    CONTROL         "LK_H激光(USB)",IDC_RADIO_KEYENCE_LASER_LK_H,"Button",BS_AUTORADIOBUTTON,166,103,76,10
     CONTROL         "LK_H激光(ETHERNET)",IDC_RADIO_KEYENCE_LASER_LKH_ETHERNET,
-                    "Button",BS_AUTORADIOBUTTON,166,107,85,10
-    CONTROL         "LJ_G激光",IDC_RADIO_KEYENCE_LASER3,"Button",BS_AUTORADIOBUTTON,166,124,76,10
+                    "Button",BS_AUTORADIOBUTTON,166,119,85,10
+    CONTROL         "LJ_G激光",IDC_RADIO_KEYENCE_LASER3,"Button",BS_AUTORADIOBUTTON,166,135,76,10
     CONTROL         "Verifcation algorithm",IDC_RADIO_SO7_VERIFICATION_ALGORITHM,
-                    "Button",BS_AUTORADIOBUTTON | NOT WS_VISIBLE,39,141,81,10
-    CONTROL         "Image.dll",IDC_RADIO_TEST_IMAGE_DLL,"Button",BS_AUTORADIOBUTTON | NOT WS_VISIBLE,166,141,45,10
+                    "Button",BS_AUTORADIOBUTTON | NOT WS_VISIBLE,39,135,81,10
+    CONTROL         "Image.dll",IDC_RADIO_TEST_IMAGE_DLL,"Button",BS_AUTORADIOBUTTON | NOT WS_VISIBLE,39,151,45,10
     DEFPUSHBUTTON   "OK",IDOK,163,177,50,14
     PUSHBUTTON      "Cancel",IDCANCEL,221,177,50,14
-    GROUPBOX        "测试选项",IDC_STATIC,20,15,242,146
+    GROUPBOX        "测试选项",IDC_STATIC,20,15,242,157
+    CONTROL         "控制器（USB R）",IDC_RADIO_CONTROLLER2,"Button",BS_AUTORADIOBUTTON,166,55,75,10
 END
 
 IDD_SO7_VIDEOCARD_SDK3000 DIALOGEX 0, 0, 488, 316
@@ -909,6 +910,37 @@ BEGIN
     PUSHBUTTON      "Stop Scan",IDC_BTN_KEYENCE_LKG5000_ETHERNET_STOP_SCAN2,313,86,50,14
 END
 
+IDD_SO7_UTIL_USBCTLR DIALOGEX 0, 0, 216, 251
+STYLE DS_SETFONT | DS_MODALFRAME | DS_FIXEDSYS | WS_POPUP | WS_CAPTION | WS_SYSMENU
+CAPTION "USB Control R1/R2"
+FONT 8, "MS Shell Dlg", 400, 0, 0x1
+BEGIN
+    PUSHBUTTON      "Exit",IDCANCEL,170,230,39,14
+    GROUPBOX        "USB_R Control",IDC_STATIC,17,12,181,216
+    CONTROL         "Enable R1",IDC_CHECK_SO7_R1_ENABLE,"Button",BS_AUTOCHECKBOX | WS_TABSTOP,31,58,48,10
+    PUSHBUTTON      "Init_Machine",IDC_BUTTON_START_SO7_R_MACHINE,43,24,63,18
+    PUSHBUTTON      "Stop_Machine",IDC_BUTTON_STOP_SO7_R_MACHINE,108,24,63,18
+    PUSHBUTTON      "Home",IDC_BUTTON_R1_HOME,135,73,36,14
+    PUSHBUTTON      "Go",IDC_BUTTON_R1_GO,135,113,36,14
+    EDITTEXT        IDC_EDIT_R1_CURRENT_POSITION,96,73,36,14,ES_AUTOHSCROLL
+    EDITTEXT        IDC_EDIT_R1_TARGET_POSITION,96,113,36,14,ES_CENTER | ES_AUTOHSCROLL
+    LTEXT           "Current Position",IDC_STATIC,43,75,51,8
+    CTEXT           "Target Position",IDC_STATIC,43,97,51,8
+    GROUPBOX        "R1",IDC_STATIC,18,45,180,92
+    CONTROL         "Enable R2",IDC_CHECK_SO7_R2_ENABLE,"Button",BS_AUTOCHECKBOX | WS_TABSTOP,31,149,48,10
+    PUSHBUTTON      "Home",IDC_BUTTON_R2_HOME,135,165,36,14
+    PUSHBUTTON      "Go",IDC_BUTTON_R2_GO,135,205,36,14
+    EDITTEXT        IDC_EDIT_R2_CURRENT_POSITION,96,165,36,14,ES_AUTOHSCROLL
+    EDITTEXT        IDC_EDIT_R2_TARGET_POSITION,96,205,36,14,ES_CENTER | ES_AUTOHSCROLL
+    LTEXT           "Current Position",IDC_STATIC,43,166,51,8
+    CTEXT           "Target Position",IDC_STATIC,43,189,51,8
+    GROUPBOX        "R2",IDC_STATIC,18,136,180,92
+    CONTROL         "Rel",IDC_RADIO_R1_RELATIVE,"Button",BS_AUTORADIOBUTTON | WS_GROUP,66,110,27,8
+    CONTROL         "Abs",IDC_RADIO_R1_ABSOLUTE,"Button",BS_AUTORADIOBUTTON,66,121,28,8
+    CONTROL         "Rel",IDC_RADIO_R2_RELATIVE,"Button",BS_AUTORADIOBUTTON | WS_GROUP,66,201,27,8
+    CONTROL         "Abs",IDC_RADIO_R2_ABSOLUTE,"Button",BS_AUTORADIOBUTTON,66,213,28,8
+END
+
 
 /////////////////////////////////////////////////////////////////////////////
 //
@@ -1056,6 +1088,14 @@ BEGIN
         TOPMARGIN, 7
         BOTTOMMARGIN, 359
     END
+
+    IDD_SO7_UTIL_USBCTLR, DIALOG
+    BEGIN
+        LEFTMARGIN, 7
+        RIGHTMARGIN, 209
+        TOPMARGIN, 7
+        BOTTOMMARGIN, 244
+    END
 END
 #endif    // APSTUDIO_INVOKED
 
@@ -1477,12 +1517,12 @@ IDB_BITMAP_Z_DOWN       BITMAP                  "res\\bmp\\Z_DOWN.bmp"
 IDB_BITMAP_Z_UP         BITMAP                  "res\\bmp\\Z_UP.bmp"
 IDB_BITMAP_X_LEFT       BITMAP                  "res\\bmp\\X_LEFT.BMP"
 IDB_BITMAP_X_RIGHT      BITMAP                  "res\\bmp\\X_RIGHT.bmp"
-#endif    // Chinese (Simplified, PRC) resources
+#endif    // 中文(简体，中国) resources
 /////////////////////////////////////////////////////////////////////////////
 
 
 /////////////////////////////////////////////////////////////////////////////
-// English (United States) resources
+// 英语(美国) resources
 
 #if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU)
 LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US
@@ -2425,7 +2465,7 @@ BEGIN
     IDS_SO7_ABOUTBOX        "&About Utility for SO7..."
 END
 
-#endif    // English (United States) resources
+#endif    // 英语(美国) resources
 /////////////////////////////////////////////////////////////////////////////
 
 
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_Option.cpp b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_Option.cpp
index 6a3bf05..435282a 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_Option.cpp
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_Option.cpp
@@ -7,6 +7,7 @@
 #include "..\..\..\SevenOcean\CMMIO_SERIAL.H"
 #include "..\..\..\SevenOcean\EF8000_Interface.h"
 #include "..\..\..\SevenOcean\SO7_Proto.h"
+#include "..\..\..\SevenOcean\SO7_Proto_Aux.h"
 #include "ProcessButton.h"
 
 #ifdef _RELEASE_FULL_VERSION
@@ -24,6 +25,7 @@
 #endif //_RELEASE_FULL_VERSION
 
 #include "SO7_UtilDlg.h"
+#include "So7_UtilUsbCtlR.h"
 #include "..\..\..\Keyence\Keyence_Laser.h"
 #include "..\..\..\Keyence\Keyence_Laser_LK_H.h"
 #include "..\..\..\Keyence\\Keyence_Proto.h"
@@ -49,6 +51,7 @@
 //CSerial* m_pSO7_Serial=NULL;
 CPSerial* m_pSO7_PCDSerial=NULL;
 CSO7_Proto*  m_pSO7_Proto=NULL;
+CSO7_Proto_Aux*  m_pSO7_Proto_Aux=NULL;
 CKeyence_Laser* m_pKeyence_Laser=NULL;
 CKeyence_Laser_LK_H* m_pKeyence_Laser_LK_H=NULL;
 CKeyence_Proto* m_pKeyence_Proto=NULL;
@@ -187,6 +190,11 @@ void CSo7_Option::OnBnClickedOk()
     {
       delete m_pSO7_Proto;
       m_pSO7_Proto=NULL;
+    } 
+    if (m_pSO7_Proto_Aux)
+    {
+      delete m_pSO7_Proto_Aux;
+      m_pSO7_Proto_Aux = NULL;
     }
     if (m_pEF8000_Interface)
     {
@@ -194,12 +202,27 @@ void CSo7_Option::OnBnClickedOk()
       m_pEF8000_Interface=NULL;
     }
   }  
+  else if (((CButton *)GetDlgItem(IDC_RADIO_CONTROLLER2))->GetCheck())
+  {
+    if (!m_pSO7_Proto_Aux)
+    {
+      m_pSO7_Proto_Aux = new CSO7_Proto_Aux();
+    }
+
+    So7_UtilUsbCtlR* pSo7_UtilUsbCtlR=new So7_UtilUsbCtlR();
+    pSo7_UtilUsbCtlR->DoModal();	
+    delete pSo7_UtilUsbCtlR;
+  }  
   else if (((CButton *)GetDlgItem(IDC_RADIO__SO7_RS232))->GetCheck())
   {
     if (!m_pSO7_Proto)
     {
       m_pSO7_Proto = new CSO7_Proto();
     }
+    if (!m_pSO7_Proto_Aux)
+    {
+      m_pSO7_Proto_Aux = new CSO7_Proto_Aux();
+    }
     if (!m_pSO7_PCDSerial)
     {
       m_pSO7_PCDSerial = new CPSerial();
@@ -219,6 +242,11 @@ void CSo7_Option::OnBnClickedOk()
       delete m_pSO7_Proto;
       m_pSO7_Proto=NULL;
     }
+    if (m_pSO7_Proto_Aux)
+    {
+      delete m_pSO7_Proto_Aux;
+      m_pSO7_Proto_Aux = NULL;
+    }
   }
   else if(((CButton *)GetDlgItem(IDC_RADIO_KEYENCE_LASER))->GetCheck())
   {
@@ -226,6 +254,10 @@ void CSo7_Option::OnBnClickedOk()
     {
       m_pSO7_Proto = new CSO7_Proto();
     }
+    if (!m_pSO7_Proto_Aux)
+    {
+      m_pSO7_Proto_Aux = new CSO7_Proto_Aux();
+    }
     if (!m_pKeyence_Proto)
     {
       m_pKeyence_Proto=new CKeyence_Proto();
@@ -245,6 +277,8 @@ void CSo7_Option::OnBnClickedOk()
     m_pKeyence_Proto=NULL;
     delete m_pSO7_Proto;
     m_pSO7_Proto=NULL;
+    delete m_pSO7_Proto_Aux;
+    m_pSO7_Proto_Aux = NULL;
   }  
   else if(((CButton *)GetDlgItem(IDC_RADIO_KEYENCE_LASER_LK_H))->GetCheck())
   {
@@ -252,6 +286,10 @@ void CSo7_Option::OnBnClickedOk()
     {
       m_pSO7_Proto = new CSO7_Proto();
     }
+    if (!m_pSO7_Proto_Aux)
+    {
+      m_pSO7_Proto_Aux = new CSO7_Proto_Aux();
+    }
     if (!m_pKeyence_Laser_LK_H)
     {
       m_pKeyence_Laser_LK_H=new CKeyence_Laser_LK_H();
@@ -264,7 +302,9 @@ void CSo7_Option::OnBnClickedOk()
     delete m_pKeyence_Laser_LK_H;
     m_pKeyence_Laser_LK_H=NULL;
     delete m_pSO7_Proto;
-    m_pSO7_Proto=NULL;
+    m_pSO7_Proto=NULL;      
+    delete m_pSO7_Proto_Aux;
+    m_pSO7_Proto_Aux = NULL;
   }  
   else if(((CButton *)GetDlgItem(IDC_RADIO_KEYENCE_LASER_LKH_ETHERNET))->GetCheck())
   {
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.cpp b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.cpp
new file mode 100644
index 0000000..4217ebf
--- /dev/null
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.cpp
@@ -0,0 +1,182 @@
+// So7_UtilUsbCtlR.cpp : 实现文件
+//
+
+#include "stdafx.h"
+#include "So7_UtilUsbCtlR.h"
+#include "afxdialogex.h"
+#include "..\..\..\SevenOcean\SO7_Proto_Aux.h"
+
+extern CSO7_Proto_Aux* m_pSO7_Proto_Aux;
+extern CLogger* g_pLoggerDebug;
+
+
+// So7_UtilUsbCtlR 对话框
+
+IMPLEMENT_DYNAMIC(So7_UtilUsbCtlR, CDialogEx)
+
+  So7_UtilUsbCtlR::So7_UtilUsbCtlR(CWnd* pParent /*=NULL*/)
+  : CDialogEx(So7_UtilUsbCtlR::IDD, pParent)
+{
+}
+
+So7_UtilUsbCtlR::~So7_UtilUsbCtlR()
+{
+}
+
+void So7_UtilUsbCtlR::DoDataExchange(CDataExchange* pDX)
+{
+  CDialogEx::DoDataExchange(pDX);
+
+  DDX_Text(pDX, IDC_EDIT_R1_TARGET_POSITION, m_R1_Rotary_Edit_Position);
+  DDX_Text(pDX, IDC_EDIT_R2_TARGET_POSITION, m_R2_Rotary_Edit_Position);
+}
+
+BEGIN_MESSAGE_MAP(So7_UtilUsbCtlR, CDialogEx)
+  ON_BN_CLICKED(IDCANCEL, &So7_UtilUsbCtlR::OnBnClickedCancel)
+  ON_BN_CLICKED(IDC_BUTTON_START_SO7_R_MACHINE, &So7_UtilUsbCtlR::OnBnClickedButtonStartSo7RMachine)
+  ON_BN_CLICKED(IDC_BUTTON_STOP_SO7_R_MACHINE, &So7_UtilUsbCtlR::OnBnClickedButtonStopSo7RMachine)
+  ON_BN_CLICKED(IDC_BUTTON_R2_GO, &So7_UtilUsbCtlR::OnBnClickedButtonR2Go)
+  ON_BN_CLICKED(IDC_BUTTON_R2_HOME, &So7_UtilUsbCtlR::OnBnClickedButtonR2Home)
+  ON_BN_CLICKED(IDC_CHECK_SO7_R2_ENABLE, &So7_UtilUsbCtlR::OnBnClickedCheckSo7R2Enable)
+END_MESSAGE_MAP()
+
+
+// So7_UtilUsbCtlR 消息处理程序
+
+BOOL So7_UtilUsbCtlR::OnInitDialog()
+{
+  CDialog::OnInitDialog();
+
+  UpdateCtrlsStatus(FALSE);
+  UpdateR1CtrlsStatus(FALSE);
+  UpdateR2CtrlsStatus(FALSE);
+  //R1 is x motor,is not enabled now.
+  GetDlgItem(IDC_CHECK_SO7_R1_ENABLE)->EnableWindow(FALSE);
+
+  return TRUE;
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::OnBnClickedButtonStartSo7RMachine()
+{
+  if (m_pSO7_Proto_Aux)
+  {
+    m_pSO7_Proto_Aux->Init_SO7Usb();
+  } 
+
+  m_pSO7_Proto_Aux->_send_cmd_SO7_CMD_RESET_R(0);
+
+  UpdateCtrlsStatus(TRUE);
+  UpdateR1CtrlsStatus(FALSE);
+  UpdateR2CtrlsStatus(FALSE);
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::UpdateCtrlsStatus(bool _bEnable)
+{
+  GetDlgItem(IDC_BUTTON_START_SO7_R_MACHINE)->EnableWindow(!_bEnable);
+  GetDlgItem(IDCANCEL)->EnableWindow(!_bEnable);
+  GetDlgItem(IDC_BUTTON_STOP_SO7_R_MACHINE)->EnableWindow(_bEnable);	
+  //GetDlgItem(IDC_CHECK_SO7_R1_ENABLE)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_CHECK_SO7_R2_ENABLE)->EnableWindow(_bEnable);
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::UpdateR1CtrlsStatus(bool _bEnable)
+{
+  GetDlgItem(IDC_BUTTON_R1_GO)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_BUTTON_R1_HOME)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_RADIO_R1_RELATIVE)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_RADIO_R1_ABSOLUTE)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_EDIT_R1_CURRENT_POSITION)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_EDIT_R1_TARGET_POSITION)->EnableWindow(_bEnable);
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::UpdateR2CtrlsStatus(bool _bEnable)
+{
+  GetDlgItem(IDC_BUTTON_R2_GO)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_BUTTON_R2_HOME)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_RADIO_R2_RELATIVE)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_RADIO_R2_ABSOLUTE)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_EDIT_R2_CURRENT_POSITION)->EnableWindow(_bEnable);
+  GetDlgItem(IDC_EDIT_R2_TARGET_POSITION)->EnableWindow(_bEnable);
+  ((CButton *)GetDlgItem(IDC_RADIO_R2_RELATIVE))->SetCheck(_bEnable);
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::OnBnClickedButtonStopSo7RMachine()
+{
+  UpdateCtrlsStatus(FALSE);
+  ((CButton *)GetDlgItem(IDC_CHECK_SO7_R1_ENABLE))->SetCheck(0);
+  ((CButton *)GetDlgItem(IDC_CHECK_SO7_R2_ENABLE))->SetCheck(0);
+  UpdateR1CtrlsStatus(FALSE);
+  UpdateR2CtrlsStatus(FALSE);
+  m_pSO7_Proto_Aux->Exit_SO7Usb();
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::OnBnClickedCancel()
+{
+  CDialogEx::OnCancel();
+}
+
+//=====================================================================================
+//*************************************************************************************
+//=====================================================================================
+void So7_UtilUsbCtlR::OnBnClickedCheckSo7R2Enable()
+{
+  if (((CButton *)GetDlgItem(IDC_CHECK_SO7_R2_ENABLE))->GetCheck())
+  {    
+    UpdateR2CtrlsStatus(TRUE);
+    m_pSO7_Proto_Aux->_send_cmd_SO7_CMD_MOVE_R(TYPER2, 360);
+    Sleep(4000);
+    CString csPosition;
+    csPosition.Format(_T("%8ld"),(m_pSO7_Proto_Aux->GetRCurrentPosition(TYPER2)));
+    GetDlgItem(IDC_EDIT_R2_CURRENT_POSITION)->SetWindowText(csPosition);
+  } 
+  else
+  {
+    UpdateR2CtrlsStatus(FALSE);
+  }
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::OnBnClickedButtonR2Home()
+{
+  int iHomeAngle = -1;
+  iHomeAngle = 360 - m_pSO7_Proto_Aux->GetRCurrentPosition(TYPER2);
+  if(iHomeAngle != 0 && iHomeAngle != 360)
+  {
+    m_pSO7_Proto_Aux->_send_cmd_SO7_CMD_MOVE_R(TYPER2, iHomeAngle);
+  }
+}
+
+//=====================================================================================
+void So7_UtilUsbCtlR::OnBnClickedButtonR2Go()
+{
+  UpdateData(TRUE);
+  USES_CONVERSION;
+
+  const char* cR2_Move_to_Rotary = T2A(m_R2_Rotary_Edit_Position);
+  int iAngle = atoi(cR2_Move_to_Rotary);
+  if (((CButton *)GetDlgItem(IDC_RADIO_R2_RELATIVE))->GetCheck())
+  {
+    m_pSO7_Proto_Aux->_send_cmd_SO7_CMD_MOVE_R(TYPER2, iAngle); 
+  }
+  else if(((CButton *)GetDlgItem(IDC_RADIO_R2_ABSOLUTE))->GetCheck())
+  {
+    int iCurrentAngle = -1;
+    iCurrentAngle = m_pSO7_Proto_Aux->GetRCurrentPosition(TYPER2);
+    if(iAngle > iCurrentAngle)
+    {
+      iAngle = iAngle - iCurrentAngle;
+      m_pSO7_Proto_Aux->_send_cmd_SO7_CMD_MOVE_R(TYPER2, iAngle);
+    }
+    else if(iAngle < iCurrentAngle)
+    {
+      iAngle = 360 - iCurrentAngle + iAngle;
+      m_pSO7_Proto_Aux->_send_cmd_SO7_CMD_MOVE_R(TYPER2, iAngle);
+    }
+  }
+}
\ No newline at end of file
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.h b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.h
new file mode 100644
index 0000000..4f2d510
--- /dev/null
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/So7_UtilUsbCtlR.h
@@ -0,0 +1,38 @@
+#pragma once
+#include "resource.h" 
+
+
+// So7_UtilUsbCtlR 对话框
+
+class So7_UtilUsbCtlR : public CDialogEx
+{
+	DECLARE_DYNAMIC(So7_UtilUsbCtlR)
+
+public:
+	So7_UtilUsbCtlR(CWnd* pParent = NULL);   // 标准构造函数
+	virtual ~So7_UtilUsbCtlR();
+
+// 对话框数据
+	enum { IDD = IDD_SO7_UTIL_USBCTLR };
+
+protected:
+	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV 支持
+
+	DECLARE_MESSAGE_MAP()
+
+  virtual BOOL OnInitDialog();
+  void UpdateCtrlsStatus(bool _bEnable);
+  void UpdateR1CtrlsStatus(bool _bEnable);
+  void UpdateR2CtrlsStatus(bool _bEnable);
+public:
+	CString m_OutMessage;
+	CString m_R1_Rotary_Edit_Position;
+	CString m_R2_Rotary_Edit_Position;
+
+  afx_msg void OnBnClickedButtonStartSo7RMachine();
+  afx_msg void OnBnClickedButtonStopSo7RMachine();
+  afx_msg void OnBnClickedCancel();
+  afx_msg void OnBnClickedCheckSo7R2Enable();
+  afx_msg void OnBnClickedButtonR2Go();
+  afx_msg void OnBnClickedButtonR2Home();
+};
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj
index 87dcb8b..c569da6 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj
@@ -321,6 +321,7 @@
     <ClCompile Include="..\..\..\SevenOcean\Serial.cpp" />
     <ClCompile Include="..\..\..\SevenOcean\So7_Interface.cpp" />
     <ClCompile Include="..\..\..\SevenOcean\SO7_Proto.cpp" />
+    <ClCompile Include="..\..\..\SevenOcean\SO7_Proto_Aux.cpp" />
     <ClCompile Include="..\..\..\Tesa\TesaStarE.cpp" />
     <ClCompile Include="..\LOGGER.CPP" />
     <ClCompile Include="..\Proto_Util.cpp" />
@@ -358,6 +359,7 @@
     <ClCompile Include="So7_Option.cpp" />
     <ClCompile Include="SO7_Send_Parameter.cpp" />
     <ClCompile Include="SO7_UtilDlg.cpp" />
+    <ClCompile Include="So7_UtilUsbCtlR.cpp" />
     <ClCompile Include="So7_Util_ImageDll.cpp" />
     <ClCompile Include="So7_Util_Program.cpp" />
     <ClCompile Include="SO7_Verfication_Algorithm.cpp" />
@@ -402,6 +404,7 @@
     <ClInclude Include="..\..\..\SevenOcean\Serial.h" />
     <ClInclude Include="..\..\..\SevenOcean\So7_Interface.h" />
     <ClInclude Include="..\..\..\SevenOcean\SO7_Proto.h" />
+    <ClInclude Include="..\..\..\SevenOcean\SO7_Proto_Aux.h" />
     <ClInclude Include="..\..\..\Tesa\TesaStarE.h" />
     <ClInclude Include="..\..\..\Videocard\SDK3000\sdk3000_7130.h" />
     <ClInclude Include="..\Proto_Util.h" />
@@ -440,6 +443,7 @@
     <ClInclude Include="So7_Option.h" />
     <ClInclude Include="SO7_Send_Parameter.h" />
     <ClInclude Include="SO7_UtilDlg.h" />
+    <ClInclude Include="So7_UtilUsbCtlR.h" />
     <ClInclude Include="So7_Util_ImageDll.h" />
     <ClInclude Include="So7_Util_Program.h" />
     <ClInclude Include="SO7_Verfication_Algorithm.h" />
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj.filters b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj.filters
index dfb5643..9f14414 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj.filters
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/Usb_Util.vcxproj.filters
@@ -196,6 +196,10 @@
     <ClCompile Include="So7_XBoxController.cpp">
       <Filter>Sources Files</Filter>
     </ClCompile>
+    <ClCompile Include="So7_UtilUsbCtlR.cpp" />
+    <ClCompile Include="..\..\..\SevenOcean\SO7_Proto_Aux.cpp">
+      <Filter>Sources Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="CaptureDataDlg.h">
@@ -426,6 +430,10 @@
     <ClInclude Include="So7_XBoxController.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="So7_UtilUsbCtlR.h" />
+    <ClInclude Include="..\..\..\SevenOcean\SO7_Proto_Aux.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <None Include="ReadMe.txt" />
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/resource.h b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/resource.h
index c1e2285..26f423e 100644
--- a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/resource.h
+++ b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/resource.h
@@ -56,6 +56,7 @@
 #define IDC_BUTTON_INIT_MVUSB           146
 #define IDD_DIALOG_TESA_STAR_E          188
 #define IDD_DIALOG_KEYENCE_LKG5000_ETHERNET 190
+#define IDD_SO7_UTIL_USBCTLR            191
 #define IDC_BUTTON_START_MACHINE        1000
 #define IDC_BUTTON_START_MACHINE3       1001
 #define IDC_BUTTON_START_POLL_58        1002
@@ -332,6 +333,7 @@
 #define IDC_RADIO_SELECT_Z              1264
 #define IDC_BUTTON_SO7_GET_SEQ_NUMBER   1265
 #define IDC_BUTTON_SO7_SET_SEQ_NUMBER   1266
+#define IDC_BUTTON_SO7_SET_SEQ_NUMBER2  1267
 #define IDC_BUTTON_SO7_SET_VER_NUMBER   1267
 #define IDC_BUTTON_SET_OUT_PORT         1269
 #define IDC_EDIT_SET_VER_NO             1271
@@ -666,6 +668,7 @@
 #define IDC_BUTTON_STOP_SCAN_KEYENCE_LK_HLASER 1553
 #define IDC_RADIO_CONTROLLER            1554
 #define IDC_BUTTON_DO_MEASURE           1555
+#define IDC_RADIO_CONTROLLER2           1555
 #define IDC_BUTTON_INIT_PROGRAM         1556
 #define IDC_RADIO_VIDEOCARD_SV2000E     1557
 #define IDC_BUTTON_SETTINGS             1558
@@ -702,8 +705,14 @@
 #define IDC_BUTTON_INIT_SCAN_KEYENCE_LK_GLASER 1586
 #define IDC_BUTTON_GO                   1586
 #define IDC_BTN_KEYENCE_LKG5000_ETHERNET_STORAGEDATA1 1586
+#define IDC_BUTTON_HOME2                1586
+#define IDC_BUTTON_R2_HOME              1586
 #define IDC_EDIT_MEASURE_VALUE          1587
+#define IDC_BUTTON_GO2                  1587
+#define IDC_BUTTON_R1_GO                1587
 #define IDC_RADIO_OUT_EXTRACT           1588
+#define IDC_BUTTON_GO3                  1588
+#define IDC_BUTTON_R2_GO                1588
 #define IDC_RADIO_KEYENCE_LASER         1589
 #define IDC_BUTTON_GET_SCAN_DATA_KEYENCE_LK_GLASER 1590
 #define IDC_EDIT_TEST_KEYENCE_MESSAGE   1591
@@ -717,6 +726,7 @@
 #define IDC_RADIO_KEYENCE_LASER_LKH_ETHERNET 1596
 #define IDC_BUTTON_TEST_KEYENCE_SAVE_LOG 1597
 #define IDC_BUTTON_SO7_MANUAL_MACHINE_SEND_DATA 1598
+#define IDC_RADIO_TEST_IMAGE_DLL3       1598
 #define IDC_BUTTON_SO7_CNC_PROGRAM      1599
 #define IDC_BUTTON_PROGRAM_SET_ZERO_Z   1600
 #define IDC_BUTTON_IMAGEDLL_STOP_SCAN_LASER 1601
@@ -909,6 +919,8 @@
 #define IDC_CHECK_SO7_TOP_LIGHT_ON      1819
 #define IDC_LIST_SO7_MOTION_CONFIG      1820
 #define IDC_CHECK_SO7_BOTTOM_LIGHT_ON   1820
+#define IDC_CHECK_SO7_TOP_LIGHT_ON2     1820
+#define IDC_CHECK_SO7_R2_ENABLE         1820
 #define IDC_EDIT_SO7_MOTION_CONFIG_MSGOUT 1821
 #define IDC_CHECK_SO7_RING_LIGHT_ON     1821
 #define IDC_EDIT_SO7_PROGEAM_INTERCAL_TIME_PER_CNC 1822
@@ -916,14 +928,25 @@
 #define IDC_CHECK_SO7_RING_LIGHT_SEG_ON2 1823
 #define IDC_EDIT_POSITION               1824
 #define IDC_RADIO_RELATIVE              1825
+#define IDC_EDIT_POSITION2              1825
+#define IDC_EDIT_R1_TARGET_POSITION     1825
 #define IDC_RADIO_ABS                   1826
 #define IDC_RADIO_ABSOLUTE              1826
+#define IDC_EDIT_POSITION3              1826
+#define IDC_EDIT_R2_CURRENT_POSITION    1826
 #define IDC_KEYENCE_LKG5000_IPADDRESS1  1827
 #define IDC_CHECK_SO7_COAXIAL_LIGHT_ON  1827
+#define IDC_EDIT_POSITION4              1827
+#define IDC_EDIT_R2_TARGET_POSITION     1827
 #define IDC_KEYENCE_LKG5000_IPADDRESS2  1828
 #define IDC_CHECK_SO7_SPARE_LIGHT_ON    1828
+#define IDC_RADIO_R1_RELATIVE           1828
+#define IDC_RADIO_R1_ABSOLUTE           1829
 #define IDC_EDIT_KEYENCE_LKG5000_MSG    1830
+#define IDC_RADIO_R2_RELATIVE           1830
 #define IDC_BTN_KEYENCE_LKG5000_ETHERNET_START_SCAN 1831
+#define IDC_RADIO_ABSOLUTE3             1831
+#define IDC_RADIO_R2_ABSOLUTE           1831
 #define IDC_BTN_KEYENCE_LKG5000_ETHERNET_STOP_SCAN 1832
 #define IDC_RADIO_SO7_MOVE_SPEED_GEAR1  1832
 #define IDC_BTN_KEYENCE_LKG5000_ETHERNET_START_SCAN2 1833
@@ -938,6 +961,12 @@
 #define IDC_STATIC_IO_ADDR4             1840
 #define IDC_STATIC_IO_ADDR5             1841
 #define IDC_STATIC_IO_ADDR6             1842
+#define IDC_BUTTON_START_SO7_R_MACHINE  1843
+#define IDC_BUTTON_STOP_SO7_R_MACHINE   1844
+#define IDC_BUTTON_R1_HOME              1845
+#define IDC_CHECK_SO7_R1_ENABLE         1846
+#define IDC_EDIT_R1_CURRENT_POSITION    1847
+
 #define IDC_BUTTON_DIY_EXIT_BUTTON      32740
 #define ID_EDIT_SO7_CONFIG_MOTION       32741
 
diff --git a/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo b/PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil_VS2010.suo
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