重写 HomeMachine 、IsHomed、GetPositionXyz 三个函数

2022-10-13 16:14:55 +08:00
parent abc78bfa0b
commit d302749cdd
6 changed files with 563 additions and 58 deletions
@@ -163,7 +163,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome)
 				return HSI_STATUS_FAILED;
 			}
 			rStatus = g_pHSI_Motion->HomeMachine(bHome);
-			switch (g_pHSI_Motion->m_iJoyStick)
+			switch (g_pHSI_Motion->m_iJoyStick) //摇杆设置
 			{
 			case 0:
 				break;
@@ -266,7 +266,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double& Po

 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double PositionX, double PositionY,
-                                                      double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear)
+	double PositionZ, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
@@ -22,11 +22,11 @@

 const int HSI_APIVersionMajor = 0;
 const int HSI_APIVersionMinor = 0;
-
 const int HSI_MaxStringLength = 255; // Maximum string length (buffer size - 1)
 ///////////////////////////////////////////////////////////////////////////////
 // Interface API
 ///////////////////////////////////////////////////////////////////////////////
+
 enum HSI_STATUS
 {
 	HSI_STATUS_NOT_SUPPORTED = -1,
@@ -77,7 +77,10 @@ enum HSI_STATUS
 	HSI_STATUS_LP_EXCEED_LIMIT = 301,

 	HSI_STATUS_VP_TIMEOUT = 350,
-	HSI_STATUS_VP_IMAGEPROCESS_FAIL
+	HSI_STATUS_VP_IMAGEPROCESS_FAIL,
+
+	HSI_ACS_OK=400,// ACS命令成功
+	HSI_ACS_ERROR
 };

 enum HSI_MACHINE_TYPE
@@ -356,23 +359,16 @@ enum HSI_MOTION_IO_TYPE
 {
 	HSI_MOTION_INPUT = 0x0001,
 	HSI_MOTION_INPUT_LIMIT_SWITCH,
-	HSI_MOTION_INPUT_CH1,
-	//固高、众为兴、EF1输入
+	HSI_MOTION_INPUT_CH1,//固高、众为兴、EF1输入
 	HSI_MOTION_INPUT_CH2,
-	HSI_MOTION_INPUT_CH3,
-	//串口控制器输入
-	HSI_MOTION_INPUT_CH4,
-	//众为兴运动控制卡测试输入
-	HSI_MOTION_INPUT_ALARM,
-	//驱动报警
-
+	HSI_MOTION_INPUT_CH3,//串口控制器输入
+	HSI_MOTION_INPUT_CH4,//众为兴运动控制卡测试输入
+	HSI_MOTION_INPUT_ALARM,//驱动报警
 	HSI_MOTION_OUTPUT = 0x0100,
 	HSI_MOTION_OUTPUT_LASER_PEN,
-	HSI_MOTION_OUTPUT_CH1,
-	//固高、众为兴、EF1输出
+	HSI_MOTION_OUTPUT_CH1,//固高、众为兴、EF1输出
 	HSI_MOTION_OUTPUT_CH2,
-	HSI_MOTION_OUTPUT_CH3,
-	//串口控制器输出
+	HSI_MOTION_OUTPUT_CH3,//串口控制器输出
 	HSI_MOTION_OUTPUT_CH4 //众为兴运动控制卡测试输出
 };

@@ -214,7 +214,7 @@ HSI_Motion::HSI_Motion()
 			m_JogDecLine[j][i] = 5;
 			m_JogDecCurve[j][i] = 0;
 		}
-		m_Home_Machine_Axis[i] = 1; //用于启动时需要回原点的轴号选择
+		m_Home_Machine_Axis[i] = 1; //用于启动时需要回原点的轴号选择,赋值1表示该轴需要回家
 		m_Home_Pos_Axis[i] = 0; //记住关闭电源时的位置，用于判断是否还需要回原点
 	}
 	m_Home_Machine_Axis[4] = 0; //用于启动时需要回原点的轴号选择
@@ -437,11 +437,13 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 					return HSI_STATUS_FAILED;
 				}
 				m_bACSConnected = true;
-				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Communication with the controller established success\n");
+				g_pLogger->SendAndFlushWithTime(
+					L"[ACS Motion] Communication with the controller established success\n");
 			}
 			else
 			{
-				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Communication with the controller is already established successfully!\n");
+				g_pLogger->SendAndFlushWithTime(
+					L"[ACS Motion] Communication with the controller is already established successfully!\n");
 			}
 		}

@@ -698,7 +700,12 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 	return rStatus;
 }

-//=============================获取EF3固件版本===============================
+//===========================================================================
+/**
+ * \brief 获取EF3固件版本
+ * \param version 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
 {
 	m_Thread_StateData = HSI_THREAD_PAUSED;
@@ -762,7 +769,7 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
 }

 //================================回家=======================================
-HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
+HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (!bHomed)
@@ -801,7 +808,8 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 			AfxMessageBox(_T("急停或安全门或安全光幕触发！"));
 			return HSI_STATUS_FAILED;
 		}
-
+		//根据当前位置，保存位置，求解相对运动
+		//回家后，设置正负限位
 		CurrentHomeMachineState = E_EF3_HOME_ING;
 		int GetHomePos[5] = {0};
 		if (m_SO7_Serial.m_RecvData[0] == 2)
@@ -835,6 +843,7 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 			//GetHomePos[3] = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial.m_RecvData[11] << 8 | m_SO7_Serial.m_RecvData[12]);
 			//GetHomePos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | m_SO7_Serial.m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]);
 		}
+		//取消限位，设置初始速度，加减速等参数
 		if (HSI_STATUS_NORMAL != HomeFindIndex())
 		{
 			return HSI_STATUS_FAILED;
@@ -879,8 +888,8 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 		m_Thread_State = HSI_THREAD_RUNNING;
 		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] SetPositionXyz\n");
 		double PrinfMovePos[5] = {0};
-		PrinfMovePos[1] = (GetHomePos[1] - SavePos[1]) * m_Resolution[1];
-		PrinfMovePos[2] = (GetHomePos[2] - SavePos[2]) * m_Resolution[2];
+		PrinfMovePos[1] = (GetHomePos[1] - SavePos[1]) * m_Resolution[1]; //求解相对运动位置
+		PrinfMovePos[2] = (GetHomePos[2] - SavePos[2]) * m_Resolution[2]; //相对运动，目标位置和现在位置求移动距离
 		PrinfMovePos[3] = (GetHomePos[3] - SavePos[3]) * m_Resolution[3];
 		PrinfMovePos[4] = (GetHomePos[4] - SavePos[4]) * m_Resolution[4];
 		g_pLogger->SendAndFlushWithTime(
@@ -938,6 +947,69 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 	return rStatus;
 }

+HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	if (!bHomed)
+	{
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] bHomed No Need Reture\n");
+		return HSI_STATUS_NORMAL;
+	}
+	if (m_IsUseEF3 == 0)
+	{
+		return HSI_STATUS_NORMAL;
+	}
+	if (g_pHSI_Motion)
+	{
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n");
+		//判断是否需要回家
+		bool home(false);
+		IsHomed(home);
+		if (home == true)
+		{
+			g_pLogger->SendAndFlushWithTime(L"[HomeMachine] IsHomed No Need Go Home\n");
+			return HSI_STATUS_NORMAL;
+		}
+		sEvenProp.Init();
+		sEvenProp.EventType = HSI_EVENT_FUNCTION;
+		sEvenProp.EventID = HSI_EVENT_MOTION_DCC_HOME;
+		sEvenProp.EventResponse = HSI_EVENT_RESPONSE_CANCEL;
+		EventCallback(sEvenProp);
+		if (sEvenProp.EventCallbackID == HSI_EVENT_RESPONSE_CANCEL)
+		{
+			g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Cancel\n");
+			return HSI_STATUS_NORMAL;
+		}
+
+		if (m_bEmergencyState)
+		{
+			AfxMessageBox(_T("急停或安全门或安全光幕触发！"));
+			return HSI_STATUS_FAILED;
+		}
+
+		CurrentHomeMachineState = E_EF3_HOME_ING;
+
+		//运行 ACS 控制器内buffer0 自动回家动作
+		//回家后，启用正负限位
+		if (!acsc_RunBuffer(handleACS, 0, NULL, ACSC_SYNCHRONOUS))
+		{
+			g_pLogger->SendAndFlushWithTime(L"[HomeMachine] ACS Run Buffer 0 error\n");
+			return HSI_STATUS_FAILED;
+		}
+
+		//再次读取回家标志位，或者上个动作完成回调
+		IsHomed(home);
+		if (home == true)
+		{
+			g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
+			return HSI_STATUS_NORMAL;
+		}
+
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n");
+	}
+	return rStatus;
+}
+
 //===========================================================================
 HSI_STATUS HSI_Motion::HomeJog(short AxisNumber, short Dir, bool Wait)
 {
@@ -952,6 +1024,10 @@ HSI_STATUS HSI_Motion::HomeJog(short AxisNumber, short Dir, bool Wait)
 }

 //===========================================================================
+/**
+ * \brief 取消限位，设置初始速度，加减速等参数
+ * \return 
+ */
 HSI_STATUS HSI_Motion::HomeFindIndex()
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -1127,6 +1203,7 @@ HSI_STATUS HSI_Motion::HomeFindIndex()
 		bool bHomed = true;
 		if ((m_SO7_Serial.m_RecvData[38] & 0x01) == 0 && m_Home_Machine_Axis[1] == 1)
 		{
+			/*	strcat_s 是系统的安全函数，微软在 2005 后建议用一系统所谓安全的函数，这中间就有 strcat_s 取代了 strcat ，原来 strcat 函数，没有方法来保证有效的缓冲区尺寸，所以它只能假定缓冲足够大来容纳要拷贝的字符串, 容易产生程序崩溃。而strcat_s函数能很好的规避这个问题*/
 			strcat_s(MessageHome, 30, "1、");
 			bHomed = false;
 		}
@@ -1197,7 +1274,7 @@ HSI_STATUS HSI_Motion::GetAppPath(CString& Path)
 }

 //===========================================================================
-HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
+HSI_STATUS HSI_Motion::IsHomedOld(bool& bHomed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
@@ -1268,6 +1345,63 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
 	return rStatus;
 }

+HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	if (g_pHSI_Motion && handleACS != ACSC_INVALID)
+	{
+		g_pLogger->SendAndFlushWithTime(L"[IsHomed] In\n");
+		int isHomed[5] = {1, 1, 1, 1, 1};
+
+
+		//所有轴都不需要回家
+		if (m_Home_Machine_Axis[1] == 0 && m_Home_Machine_Axis[2] == 0 && m_Home_Machine_Axis[3] == 0 &&
+			m_Home_Machine_Axis[4] == 0)
+		{
+			g_pLogger->SendAndFlushWithTime(L"[IsHomed] No Axis Go Home E_GTS_HOME_FINISHED\n");
+			CurrentHomeMachineState = E_EF3_HOME_FINISHED;
+			bHomed = true;
+			return HSI_STATUS_NORMAL;
+		}
+
+		// 判断是否需要回家，读取ACS控制器回家标志位，来判断本次上电是否已经回过家
+		if (!acsc_ReadInteger(handleACS, ACSC_NONE, "ISHOMED", ACSC_NONE, ACSC_NONE, ACSC_NONE, ACSC_NONE, isHomed,
+		                      NULL))
+		{
+			g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read ISHOMED Flag Error\n");
+			CurrentHomeMachineState = E_EF3_HOME_NONE;
+			rStatus = HSI_STATUS_FAILED;
+			bHomed = false;
+		}
+
+		g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read ISHOMED X:%d Y1:%d Y2:%d Z:%d\n", isHomed[0], isHomed[1],
+		                                isHomed[2], isHomed[3]);
+
+		//如果各个轴标志位 已经回过家
+		if (isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1 && isHomed[4] == 1)
+		{
+			g_pLogger->SendAndFlushWithTime(L"[IsHomed] E_GTS_HOME_FINISHED\n");
+			CurrentHomeMachineState = E_EF3_HOME_FINISHED;
+			bHomed = true;
+		}
+		else
+		{
+			g_pLogger->SendAndFlushWithTime(L"[IsHomed] Is No Go Home E_GTS_HOME_NONE\n");
+			CurrentHomeMachineState = E_EF3_HOME_NONE;
+			bHomed = false;
+		}
+		g_pLogger->SendAndFlushWithTime(L"[IsHomed] Out\n");
+	}
+	else
+	{
+		g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Communication error\n");
+		CurrentHomeMachineState = E_EF3_HOME_NONE;
+		rStatus = HSI_STATUS_FAILED;
+		bHomed = false;
+	}
+	return rStatus;
+}
+
 //===========================================================================
 HSI_STATUS HSI_Motion::ZeroPos(bool bZeroPos)
 {
@@ -1314,7 +1448,13 @@ HSI_STATUS HSI_Motion::ZeroPos(bool bZeroPos)
 	return rStatus;
 }

-//===============================JOG模式============================================
+//===========================================================================
+/**
+ * \brief JOG模式
+ * \param AxisTypes 
+ * \param Speed 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -2086,8 +2226,90 @@ HSI_STATUS HSI_Motion::GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, do
 }

 //===========================================================================
+/**
+ * \brief 获取轴当前运动位置
+ * \param AxisTypes 
+ * \param PositionX 
+ * \param PositionY 
+ * \param PositionZ 
+ * \param Time 
+ * \return 
+ */
+HSI_STATUS HSI_Motion::GetPositionXyzOld(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
+                                         double& Time)
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	UNREFERENCED_PARAMETER(AxisTypes);
+	//读取3个轴的位置
+	CString tempStr;
+	if (g_pHSI_Motion)
+	{
+		if (m_SO7_Serial.m_RecvData[0] == 2)
+		{
+			if (m_DeviceType != 1)
+			{
+				if (m_IsHavePattern & 0x01)
+					PositionX = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.
+						m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]) * m_Resolution[1];
+				else
+					PositionX = (m_SO7_Serial.m_RecvData[17] << 24 | m_SO7_Serial.m_RecvData[18] << 16 | m_SO7_Serial.
+						m_RecvData[19] << 8 | m_SO7_Serial.m_RecvData[20]) * m_Resolution[1];
+				if (m_IsHavePattern & 0x02)
+					PositionY = (m_SO7_Serial.m_RecvData[5] << 24 | m_SO7_Serial.m_RecvData[6] << 16 | m_SO7_Serial.
+						m_RecvData[7] << 8 | m_SO7_Serial.m_RecvData[8]) * m_Resolution[2];
+				else
+					PositionY = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial.
+						m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]) * m_Resolution[2];
+				if (m_IsHavePattern & 0x04)
+					PositionZ = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial.
+						m_RecvData[11] << 8 | m_SO7_Serial.m_RecvData[12]) * m_Resolution[3];
+				else
+					PositionZ = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial.
+						m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]) * m_Resolution[3];
+				if (m_IsHavePattern & 0x08)
+					m_PosForAllAxis[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 |
+						m_SO7_Serial.m_RecvData[15] << 8 | m_SO7_Serial.m_RecvData[16]) * m_Resolution[4];
+				else
+					m_PosForAllAxis[4] = (m_SO7_Serial.m_RecvData[29] << 24 | m_SO7_Serial.m_RecvData[30] << 16 |
+						m_SO7_Serial.m_RecvData[31] << 8 | m_SO7_Serial.m_RecvData[32]) * m_Resolution[4];
+			}
+			else
+			{
+				PositionX = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.
+					m_RecvData[3] << 8 | m_SO7_Serial.m_RecvData[4]) * m_Resolution[1];
+				PositionY = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial.
+					m_RecvData[23] << 8 | m_SO7_Serial.m_RecvData[24]) * m_Resolution[2];
+				PositionZ = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial.
+					m_RecvData[27] << 8 | m_SO7_Serial.m_RecvData[28]) * m_Resolution[3];
+			}
+			m_EncPos[1] = PositionX;
+			m_EncPos[2] = PositionY;
+			m_EncPos[3] = PositionZ;
+			m_EncPos[4] = m_PosForAllAxis[4];
+			m_PosForAllAxis[1] = PositionX;
+			m_PosForAllAxis[2] = PositionY;
+			m_PosForAllAxis[3] = PositionZ;
+		}
+		else
+		{
+			PositionX = m_EncPos[1];
+			PositionY = m_EncPos[2];
+			PositionZ = m_EncPos[3];
+			m_PosForAllAxis[1] = m_EncPos[1];
+			m_PosForAllAxis[2] = m_EncPos[2];
+			m_PosForAllAxis[3] = m_EncPos[3];
+			m_PosForAllAxis[4] = m_EncPos[4];
+			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] failed\n");
+		}
+		//LARGE_INTEGER tima;
+		//QueryPerformanceCounter(&tima);
+		//Time = static_cast<double>(tima.QuadPart);
+		Time = set_end - set_start;
+	}
+	return rStatus;
+}
 HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
-                                      double& Time)
+	double& Time)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	UNREFERENCED_PARAMETER(AxisTypes);
@@ -2226,8 +2448,18 @@ HSI_STATUS HSI_Motion::GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, d
 }

 //===========================================================================
-HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
-                                      HSI_MOTION_MOVE_TYPE eType, double dFlyRadius)
+/**
+ * \brief 设置多轴运动到指定位置
+ * \param AxisTypes 
+ * \param PositionX 
+ * \param PositionY 
+ * \param PositionZ 
+ * \param eType 
+ * \param dFlyRadius 
+ * \return 
+ */
+HSI_STATUS HSI_Motion::SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
+                                         HSI_MOTION_MOVE_TYPE eType, double dFlyRadius)
 {
 	WaitForSingleObject(g_WR_ToMove_Mutex, INFINITE);
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -2240,6 +2472,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 		axis_start = 0;
 		unsigned char direct_pos = 0;
 		unsigned char xyzAxis = 0;
+		//如果状态非 运动中，设置为运动中
 		if (CurrentMotionState != E_SO7_MOTION_MOVETO)
 		{
 			CurrentMotionState = E_SO7_MOTION_MOVETO;
@@ -2266,7 +2499,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P

 			if (m_SO7_Serial.m_RecvData[0] == 2)
 			{
-				if (m_DeviceType != 1)
+				//根据设备类型获取现在位置
+				if (m_DeviceType != 1) //设备类型非三激光
 				{
 					if (m_IsHavePattern & 0x01 == 0x01)
 						NowPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.
@@ -2320,6 +2554,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			}
 			else
 			{
+				/*	编译器隐式执行的任何类型转换都可以由static_cast显式完成。
+					static_cast可以用来将枚举类型转换成整型，或者整型转换成浮点型*/
 				Pos_t[1] = NowPos[1] = static_cast<int>(m_EncPos[1] / m_Resolution[1]);
 				Pos_t[2] = NowPos[2] = static_cast<int>(m_EncPos[2] / m_Resolution[2]);
 				Pos_t[3] = NowPos[3] = static_cast<int>(m_EncPos[3] / m_Resolution[3]);
@@ -2393,12 +2629,12 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			Pos[4] = (int)(m_PositionA / m_Resolution[4]) - NowPos[4];
 			}
 			}*/
-			target_pos[1] = static_cast<int>(PositionX / m_Resolution[1]);
+			target_pos[1] = static_cast<int>(PositionX / m_Resolution[1]); //计算到目标位置
 			target_pos[2] = static_cast<int>(PositionY / m_Resolution[2]);
 			target_pos[3] = static_cast<int>(PositionZ / m_Resolution[3]);
 			target_pos[4] = static_cast<int>(m_PositionA / m_Resolution[4]);

-			begin_position[1] = target_pos[1];
+			begin_position[1] = target_pos[1]; //将目标位置设置为 开始位置
 			begin_position[2] = target_pos[2];
 			begin_position[3] = target_pos[3];
 			begin_position[4] = target_pos[4];
@@ -2562,7 +2798,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			//}

 			int axisCount = 4;
-			if (fourthAxisFlag)
+			if (fourthAxisFlag) //第4轴
 			{
 				fourthAxisFlag = false;
 				if (Pos[4] > 0) direct_pos |= 0x08;
@@ -2572,6 +2808,8 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			}
 			else
 				xyzAxis = AXIS_XYZ;
+
+			//设置运动参数
 			for (int i = 1; i < axisCount; i++)
 			{
 				int time_out_send = 0;
@@ -2666,6 +2904,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 				Sleep(6);
 			}

+			//清除缓存位置
 			while (m_SO7_Serial.m_RecvData[39])
 			{
 				send_pos_data[0] = CT_ORDER;
@@ -2733,7 +2972,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			send_pos_data[40] = Stepdriverspeed[4] & 0xff;


-			if (bCircleRun)
+			if (bCircleRun) //圆弧插补
 			{
 				bCircleRun = false;
 				send_pos_data[1] = CT_CIRCLERUN_POSITION;
@@ -2786,6 +3025,102 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 	return rStatus;
 }

+HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
+                                      HSI_MOTION_MOVE_TYPE eType, double dFlyRadius)
+{
+	WaitForSingleObject(g_WR_ToMove_Mutex, INFINITE);
+	auto rStatus = HSI_STATUS_NORMAL;
+	if (g_pHSI_Motion)
+	{
+		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] In\n");
+		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX,
+		                                PositionY, PositionZ);
+		unsigned char send_pos_data[64] = {0};
+		axis_start = 0;
+		unsigned char direct_pos = 0;
+		unsigned char xyzAxis = 0;
+		if (CurrentMotionState != E_SO7_MOTION_MOVETO)
+		{
+			CurrentMotionState = E_SO7_MOTION_MOVETO;
+			//限位功能
+			LimitOver(HSI_MOTION_AXIS_X, PositionX);
+			LimitOver(HSI_MOTION_AXIS_Y, PositionY);
+			LimitOver(HSI_MOTION_AXIS_Z, PositionZ);
+			LimitOver(HSI_MOTION_AXIS_R, m_PositionA);
+
+			m_PosThread[1] = PositionX; //SetpositionXyz的目标位置
+			m_PosThread[2] = PositionY;
+			m_PosThread[3] = PositionZ;
+			m_PosThread[4] = m_PositionA;
+
+			
+			//打印当前位置，目标位置
+			//g_pLogger->SendAndFlushWithTime(
+			//	L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n",
+			//	NowPos[1] * m_Resolution[1], NowPos[2] * m_Resolution[2], NowPos[3] * m_Resolution[3],
+			//	NowPos[4] * m_Resolution[4]);
+			g_pLogger->SendAndFlushWithTime(
+				L"[SetPositionXyzTagPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX,
+				PositionY, PositionZ, m_PositionA);
+
+			//打印轴当前运动参数
+			double motionParam[5] = { 0 };
+			GetMotorParam(AXIS_X, motionParam);
+			g_pLogger->SendAndFlushWithTime(
+				L"[SetPositionXyz] axis= %d,GetVelocity = %d,GetAcceleration= %d,GetDeceleration= %d, GetKillDeceleration= %d, GetJerk= %d\n",AXIS_X,motionParam[0],motionParam[1],motionParam[2],motionParam[3],motionParam[4]);
+
+
+			//设置轴运动速度，TO-DO
+
+
+			//开始运动到指定位置
+			int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_2 }; //需要运动的轴
+			double Points[] = { PositionX ,PositionY,PositionZ };  //目标位置点
+			if(!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr))
+			{
+				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error");
+			}
+
+			//启动插补和定位功能
+
+
+			//圆弧插补
+
+
+			if (eType == HSI_MOTION_MOVE_NOWAIT)//非等待
+			{
+				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait SetEvent\n");
+				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait move!\n");
+				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Nowait\n");
+				m_IsExMotion = 0;
+				bRunGlueDispenser = HSI_THREAD_PAUSED;
+				m_Thread_State = HSI_THREAD_RUNNING;
+				SetEvent(m_hTriggerEvent);
+			}
+			if (eType == HSI_MOTION_MOVE_WAIT)//等待模式
+			{
+				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Wait Mode\n");
+				m_Thread_State = HSI_THREAD_RUNNING;
+				m_IsExMotion = 0;
+				UpdateMotionState();
+				m_Thread_State = HSI_THREAD_PAUSED;
+			}
+		}
+		else
+		{
+			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] HSI_STATUS_MOTION_MOVING\n");
+			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out\n");
+			rStatus = HSI_STATUS_MOTION_MOVING;
+		}
+		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out\n");
+		targetpos_l[1] = PositionX;
+		targetpos_l[2] = PositionY;
+		targetpos_l[3] = PositionZ;
+	}
+	ReleaseMutex(g_WR_ToMove_Mutex);
+	return rStatus;
+}
+
 //===========================================================================
 int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc)
 {
@@ -2798,6 +3133,44 @@ int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc)
 	return acc;
 }

+//===========================================================================
+/**
+ * \brief 求各轴运动配置参数
+ * \param AXIS 
+ * \param motionParam 
+ * \return 
+ */
+HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5])
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	if (handleACS != ACSC_INVALID)
+	{
+		//依次是 速度、加速度、减速、杀死速度、抖动
+		if (!acsc_GetVelocity(handleACS, AXIS, motionParam, nullptr))
+		{
+			rStatus = HSI_ACS_ERROR;
+		}
+		if (!acsc_GetAcceleration(handleACS, AXIS, motionParam + 1, nullptr))
+		{
+			rStatus = HSI_ACS_ERROR;
+		}
+		if (!acsc_GetDeceleration(handleACS, AXIS, motionParam + 2, nullptr))
+		{
+			rStatus = HSI_ACS_ERROR;
+		}
+		if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam + 3, nullptr))
+		{
+			rStatus = HSI_ACS_ERROR;
+		}
+		if (!acsc_GetJerk(handleACS, AXIS, motionParam + 4, nullptr))
+		{
+			rStatus = HSI_ACS_ERROR;
+		}
+	}
+
+	return rStatus;
+}
+
 //===========================================================================
 HSI_STATUS HSI_Motion::SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
                                       double PositionA, HSI_MOTION_MOVE_TYPE eType, double dFlyRadius)
@@ -2827,6 +3200,13 @@ HSI_STATUS HSI_Motion::SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE
 }

 //===========================================================================
+/**
+ * \brief 圆弧插补
+ * \param PositionX 
+ * \param PositionY 
+ * \param PositionZ 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::SetCircleInterpolate(double PositionX, double PositionY, double PositionZ)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -2842,7 +3222,11 @@ HSI_STATUS HSI_Motion::SetCircleInterpolate(double PositionX, double PositionY,
 	return rStatus;
 }

-//===========================探针接口================================================
+//===========================================================================
+/**
+ * \brief 探针接口
+ * \param RetractManDist 
+ */
 void HSI_Motion::ProbeRetractManDist(int RetractManDist)
 {
 	if (g_pHSI_Motion)
@@ -2974,7 +3358,12 @@ HSI_STATUS HSI_Motion::JogProbe(UINT AxisTypes, double Speed)
 	return rStatus;
 }

-//=============================读取配置==============================================
+//===========================================================================
+/**
+ * \brief 读取配置
+ * \param GoogolIniFile 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -3229,7 +3618,14 @@ HSI_STATUS HSI_Motion::Load_EF3_Config_Inifile(CString GoogolIniFile)
 	return rStatus;
 }

-//===============================读取/设置光栅尺精度============================================
+//===========================================================================
+/**
+ * \brief 读取/设置光栅尺精度
+ * \param _ScaleX 
+ * \param _ScaleY 
+ * \param _ScaleZ 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::GetScaleResolution(double& _ScaleX, double& _ScaleY, double& _ScaleZ)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -3255,7 +3651,10 @@ HSI_STATUS HSI_Motion::SetScaleResolution(double _ScaleX, double _ScaleY, double
 	return rStatus;
 }

-//============================定位完成事件===============================================
+//===========================================================================
+/**
+ * \brief 定位完成事件
+ */
 void HSI_Motion::SendMsgMotionFinished()
 {
 	sEvenProp.Init();
@@ -3265,7 +3664,10 @@ void HSI_Motion::SendMsgMotionFinished()
 	EventCallback(sEvenProp);
 }

-//=============================回调探针运行事件==============================================
+//===========================================================================
+/**
+ * \brief 回调探针运行事件
+ */
 void HSI_Motion::SendMsgProbeFinished()
 {
 	sEvenProp.Init();
@@ -3405,7 +3807,7 @@ void HSI_Motion::UpdateMotionState()
 					m_PrfPos[3] - m_EncPos[3], 2.0);
 				if (dis > 0)
 				{
-					PntToPntDistance = sqrt(dis);
+					PntToPntDistance = sqrt(dis); //欧氏距离
 				}
 				else
 				{
@@ -3544,7 +3946,10 @@ void HSI_Motion::UpdateMotionStateIO()
 	}
 }

-//========================获取运动状态===================================================
+//===========================================================================
+/**
+ * \brief 获取运动状态
+ */
 void HSI_Motion::UpdateMotionStateData()
 {
 	while (m_Thread_StateData == HSI_THREAD_RUNNING)
@@ -3624,13 +4029,16 @@ void HSI_Motion::UpdateMotionStateProbe()
 void HSI_Motion::DoEvents()
 {
 	MSG msg;
-	//和函数PeekMessage不一样的是，GetMessage:从系统获取消息，将消息从系统中移除，属于阻塞函数。
-	//当系统无消息时，GetMessage会等待下一条消息。而函数PeekMesssge是以查看的方式从系统中获取消息，可以不将消息从系统中移除，
-	//是非阻塞函数；当系统无消息时，返回FALSE，继续执行后续代码
+	//GetMessage:从系统获取消息，将消息从系统中移除，属于阻塞函数。当系统无消息时，GetMessage会等待下一条消息。
+
+	//函数PeekMesssge是以查看的方式从系统中获取消息，可以不将消息从系统中移除，是非阻塞函数；当系统无消息时，返回FALSE，继续执行后续代码
 	while (PeekMessage(&msg, nullptr, 0, 0, PM_REMOVE))
 	{
 		__try
 		{
+			//DispatchMessage 函数分发一个消息给窗口程序。通常消息从GetMessage函数获得或者TranslateMessage函数传递的。
+			// 消息被分发到回调函数（过程函数)，作用是消息传递给操作系统，
+			// 然后操作系统去调用我们的回调函数，也就是说我们在窗体的过程函数中处理消息。
 			DispatchMessage(&msg);
 			TranslateMessage(&msg);
 		}
@@ -3823,7 +4231,11 @@ HSI_STATUS HSI_Motion::GetAxisStatus(int* _Status)
 	return rStatus;
 }

-//=============================暂停和关闭==============================================
+//===========================================================================
+/**
+ * \brief 暂停和关闭
+ * \return 
+ */
 HSI_STATUS HSI_Motion::AbortMotion() //需要运动实现
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -3863,7 +4275,11 @@ HSI_STATUS HSI_Motion::AbortMotion() //
 	return rStatus;
 }

-//===============================关闭============================================
+//===========================================================================
+/**
+ * \brief 关闭
+ * \return 
+ */
 HSI_STATUS HSI_Motion::Shutdown()
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -3927,7 +4343,16 @@ HSI_STATUS HSI_Motion::Shutdown()
 	return rStatus;
 }

-//==============================触发灯光=============================================
+//===========================================================================
+/**
+ * \brief 触发灯光
+ * \param triggleNum 
+ * \param delayLighting 
+ * \param delayLightBefor 
+ * \param triggleMode 
+ * \param Intensities 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor, int triggleMode,
                                       double* Intensities)
 {
@@ -3990,7 +4415,12 @@ HSI_STATUS HSI_Motion::SetTriggerLight(int triggleNum, int delayLighting, int de
 	return rStatus;
 }

-//=============================硬件触发拍照==============================================
+//===========================================================================
+/**
+ * \brief 硬件触发拍照
+ * \param startPoint 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::DCCPPStartPoint(double* startPoint)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -4545,7 +4975,17 @@ HSI_STATUS HSI_Motion::DCCForLightPlate()
 	return rStatus;
 }

-//===============================转盘============================================
+//===========================================================================
+/**
+ * \brief 转盘
+ * \param CamerasDis 
+ * \param BinsDis 
+ * \param SubArea 
+ * \param filterTime1 
+ * \param filterTime2 
+ * \param pluseSumDis 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea, int filterTime1, int filterTime2,
                                   int pluseSumDis)
 {
@@ -5575,7 +6015,19 @@ HSI_STATUS HSI_Motion::GetPntsDistance(double& pDistance, int& spTimeCount)
 	return rStatus;
 }

-//========================运动控制参数读取及设置===================================================
+//===========================================================================
+/**
+ * \brief 运动控制参数读取及设置
+ * \param AxisNum 
+ * \param Speed 
+ * \param DirveSpeed 
+ * \param StartSpeed 
+ * \param AccLine 
+ * \param DecLine 
+ * \param AccCurve 
+ * \param DecCurve 
+ * \return 
+ */
 int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
                             int& AccCurve, int& DecCurve)
 {
@@ -5638,7 +6090,19 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
 	return static_cast<int>(Speed);
 }

-//==========================JoyStick运动控制参数读取及设置=================================================
+//===========================================================================
+/**
+ * \brief JoyStick运动控制参数读取及设置
+ * \param AxisNum 
+ * \param Speed 
+ * \param DirveSpeed 
+ * \param StartSpeed 
+ * \param AccLine 
+ * \param DecLine 
+ * \param AccCurve 
+ * \param DecCurve 
+ * \return 
+ */
 bool HSI_Motion::SpeedPercentJoyStick(int AxisNum, long& Speed, int& DirveSpeed, int& StartSpeed, int& AccLine,
                                      int& DecLine, int& AccCurve, int& DecCurve)
 {
@@ -159,12 +159,26 @@ public:
 	HSI_STATUS IsSupported(UINT& Types) override;
 	HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly) override;
 	HSI_STATUS GetFirmwareVersion(byte* version);
-
+	/**
+	 * \brief 判断机台是否回家，如果没有，则执行回家动作
+	 * \param bHomed 
+	 * \return 
+	 */
+	HSI_STATUS HomeMachineOld(bool bHomed);
 	HSI_STATUS HomeMachine(bool bHomed);
+
 	HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false);
 	HSI_STATUS HomeFindIndex();
 	HSI_STATUS ZeroPos(bool bZeroPos);
+
+	/**
+	 * \brief 判断机台是否回家，仅获取是否回家的状态
+	 * \param bHomed 是否回家标志位
+	 * \return 
+	 */
+	HSI_STATUS IsHomedOld(bool& bHomed);
 	HSI_STATUS IsHomed(bool& bHomed);
+
 	HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
 	HSI_STATUS SetSpeedXyz(double Speed);
 	HSI_STATUS GetFocusSpeed(double& Speed);
@@ -186,6 +200,16 @@ public:
 	HSI_STATUS StopJogEx(UINT AxisTypes);

 	HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
+	/**
+	 * \brief 获取轴当前位置
+	 * \param AxisTypes 轴号
+	 * \param PositionX X坐标
+	 * \param PositionY Y坐标
+	 * \param PositionZ Z坐标
+	 * \param Time 
+	 * \return 
+	 */
+	HSI_STATUS GetPositionXyzOld(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
 	HSI_STATUS GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
 	HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
 	                                double& PositionA);
@@ -193,14 +217,35 @@ public:
 	HSI_STATUS JogProbe(UINT AxisTypes, double Speed);
 	void ProbeRetractManDist(int RetractManDist);
 	int CaculateStepMotorACC(int pos, int maxacc, int minacc);
+	/**
+	 * \brief 求各轴运动配置参数
+	 * \param AXIS 
+	 * \param motionParam 
+	 * \return 
+	 */
+	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]);
+
+	/**
+	 * \brief 运行到指定位置
+	 * \param AxisTypes 轴号
+	 * \param PositionX X坐标
+	 * \param PositionY Y坐标
+	 * \param PositionZ Z坐标
+	 * \param eType 运动模式，
+	 * \param dFlyRadius 
+	 * \return 
+	 */
+	HSI_STATUS SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
+	                             HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
 	                          HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
+
 	HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA,
 	                           HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point* CacheData);
 	HSI_STATUS GetPositionR(UINT AxisTypes, double& PositionR, double& Time);
 	HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
-	HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ);
+	HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ);//圆弧插补
 	HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile);
 	HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile);
 	HSI_STATUS AbortMotion();
@@ -445,7 +490,7 @@ public:
 	double m_PrfPos[5];
 	double m_PosForAllAxis[5]; //¼ÇÂ¼4ÖáÎ»ÖÃ
 	bool m_bConnected;
-	bool m_bACSConnected;// ACS是否连接成功
+	bool m_bACSConnected; // ACS是否连接成功
 	int m_SendDataLength;
 	unsigned char m_cSendData[64];
 	unsigned char m_direct_pos;
@@ -12,5 +12,5 @@
 #define HSI_VERSION_REVNUM              
 #define HSI_VERSION_BUILD_DATE        _T(__DATE__ )  
 #define HSI_VERSION_BUILD_TIME        _T(__TIME__ )  
-#define HSI_FILE_DESCRIPTION          "2022.10.12 / 13:49 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.10.12 / 13:49 ")  
+#define HSI_FILE_DESCRIPTION          "2022.10.13 / 15:29 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2022.10.13 / 15:29 ")  
@@ -39,7 +39,7 @@ namespace HSI_SEVENOCEAN_EF1_CsTest

 			//if (Motion.IsActive(true))
 			{
-				rStatus = Motion.Startup(true); //运动初始化
+				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