引入ACS库，代码格式整理

HSI_HexagonMI_EF3.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
-VisualStudioVersion = 15.0.28307.2017
+# Visual Studio Version 17
+VisualStudioVersion = 17.3.32922.545
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_Sevenocean_EF1", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF1\HSI_Sevenocean_EF1.vcxproj", "{09F6ECED-CD30-4ACA-BD5E-FFB4F53C353A}"
 EndProject
@@ -18,6 +18,11 @@ EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WPFSerialAssistant", "SerialAssistant\WPFSerialAssistant\WPFSerialAssistant.csproj", "{DA01B86D-5BC1-4863-BAAC-71B309B09CC0}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HSI_SEVENOCEAN_EF1_CsTest", "HSI_SEVENOCEAN_EF1_CsTest\HSI_SEVENOCEAN_EF1_CsTest.csproj", "{7ED499CB-651C-4154-9741-EEF347BDBFB5}"
+	ProjectSection(ProjectDependencies) = postProject
+		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B} = {ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ACSPL_VS2017", "C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\ACSC\C_CPP\Samples\Reciprocated\ACSPL\ACSPL_VS2017.vcxproj", "{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -111,6 +116,18 @@ Global
 		{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x64.Build.0 = Release|Any CPU
 		{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.ActiveCfg = Release|x86
 		{7ED499CB-651C-4154-9741-EEF347BDBFB5}.Release|x86.Build.0 = Release|x86
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|Any CPU.ActiveCfg = Debug|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|Any CPU.Build.0 = Debug|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x64.ActiveCfg = Debug|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x64.Build.0 = Debug|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x86.ActiveCfg = Debug|Win32
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Debug|x86.Build.0 = Debug|Win32
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|Any CPU.ActiveCfg = Release|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|Any CPU.Build.0 = Release|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x64.ActiveCfg = Release|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x64.Build.0 = Release|x64
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x86.ActiveCfg = Release|Win32
+		{26BA6D1A-E94D-46EE-A361-2D1AFDB2338A}.Release|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HSI_HexagonMI_EF3/HSI.cpp

@@ -2,7 +2,7 @@
 #include "HSI.h"
 #include "HSI_Motion.h"
 #include "HSI_Sevenocean_EF3.h"
-#include "SevenOcean\CMMIO_SERIAL.h"
+#include "SevenOcean/CMMIO_SERIAL.h"
 //#include "HSI_Illumination.h"
 //#include "HSI_Function.h"
 //#include "HSI_JoyStick.h"
@@ -14,14 +14,36 @@
 static HWND g_hWnd = nullptr;
 static bool g_bOfflineOnly = false;
 
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//											开发说明
+//初版 V0.1 2022/10/10
+//---------------------------------------
+//1、剥离 Metus初步所需函数（14个函数，包含是否回家，运动初始化，版本，JOG运动，运动到指定位置等）并生成dll
+//
+//
+//
+//
+//
+//
+//
+//
+//
+//
+//
+//
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
 #pragma region interface
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT& APIVersionMajor, UINT& APIVersionMinor)
 {
-  APIVersionMajor = HSI_APIVersionMajor;
-  APIVersionMinor = HSI_APIVersionMinor;
+	APIVersionMajor = HSI_APIVersionMajor; //HSI.dll 主版本号
+	APIVersionMinor = HSI_APIVersionMinor; //HSI.dll 小版本号
 	return HSI_STATUS_NORMAL;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly)
 {
@@ -32,7 +54,7 @@ HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly)
 	}
 	if (g_pHSI_Sevenocean_EF3)
 	{
-    g_pHSI_Sevenocean_EF3->Startup(_hWnd, _bOfflineOnly);
+		g_pHSI_Sevenocean_EF3->Startup(_hWnd, _bOfflineOnly); //初始化EF3
 	}
 	else
 	{
@@ -42,6 +64,7 @@ HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly)
 	g_bOfflineOnly = _bOfflineOnly;
 	return rStatus;
 }
+
 //==========================获取机器控制器信息，3代表EF3=================================================
 HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int& _NumMachineTypes)
 {
@@ -56,6 +79,7 @@ HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int &_NumMachineTypes)
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback)
 {
@@ -70,6 +94,7 @@ HSI_API HSI_STATUS WINAPI HSI_SET_EVENT_CALLBACK(pEventCallback _pCallback)
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM()
 {
@@ -77,14 +102,14 @@ HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM()
 	if (g_pLogger)
 	{
 		delete g_pLogger;
-    g_pLogger = NULL;
+		g_pLogger = nullptr;
 	}
 	if (g_pLogger2)
 	{
 		delete g_pLogger2;
-    g_pLogger2 = NULL;
+		g_pLogger2 = nullptr;
 	}
-  //if (g_pHSI_Illumination)
+	//if (g_pHSI_Illumination) //屏蔽光照
 	//{
 	//  rStatus = g_pHSI_Illumination->Shutdown();
 	//  delete g_pHSI_Illumination;
@@ -92,11 +117,11 @@ HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM()
 	//}
 	if (g_pHSI_Motion)
 	{
-    rStatus = g_pHSI_Motion->Shutdown();
+		rStatus = g_pHSI_Motion->Shutdown(); //运动终止
 		delete g_pHSI_Motion;
 		g_pHSI_Motion = nullptr;
 	}
-	//if (g_pHSI_JoyStick)
+	//if (g_pHSI_JoyStick) //屏蔽摇杆
 	//{
 	//	g_pHSI_JoyStick->SuspendJoyStickThread();
 	//	delete g_pHSI_JoyStick;
@@ -104,12 +129,13 @@ HSI_API HSI_STATUS WINAPI HSI_SHUTDOWM()
 	//}
 	if (g_pHSI_Sevenocean_EF3)
 	{
-    g_pHSI_Sevenocean_EF3->Shutdown();
+		g_pHSI_Sevenocean_EF3->Shutdown(); //EF3对象删除
 		delete g_pHSI_Sevenocean_EF3;
 		g_pHSI_Sevenocean_EF3 = nullptr;
 	}
 	return rStatus;
 }
+
 //===========================================================================
 #pragma endregion
 
@@ -159,6 +185,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP(bool bHome)
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte* verion)
 {
@@ -173,6 +200,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_FIREWAREVERION(byte *verion)
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN()
 {
@@ -189,6 +217,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_SHUTDOWN()
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed)
 {
@@ -203,6 +232,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed)
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG()
 {
@@ -217,8 +247,10 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG()
 	}
 	return rStatus;
 }
+
 //===========================================================================
-HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time)
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double& PositionX, double& PositionY,
+                                                      double& PositionZ, double& Time)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
@@ -231,8 +263,10 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &Po
 	}
 	return rStatus;
 }
+
 //===========================================================================
-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)
+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)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
@@ -245,6 +279,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_POSITION_XYZ(UINT AxisTypes, double  Po
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION()
 {
@@ -259,6 +294,7 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION()
 	}
 	return rStatus;
 }
+
 //===========================================================================
 HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool& bHomed)
 {
@@ -1183,7 +1219,6 @@ HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_TESTLIGHT(bool flag)
 #endif // USE_ILLUMINATION_API
 
 
-
 ///////////////////////////////////////////////////////////////////////////////
 // Probe API 探针
 ///////////////////////////////////////////////////////////////////////////////
@@ -1383,4 +1418,3 @@ HSI_API HSI_STATUS WINAPI HSI_TP_SHUTDOWN()
 ///////////////////////////////////////////////////////////////////////////////
 // 测试功能
 ///////////////////////////////////////////////////////////////////////////////
-

HSI_HexagonMI_EF3/HSI.h

@@ -1,4 +1,3 @@
-
 #ifndef HSI_H_INCLUDED_
 #define HSI_H_INCLUDED_
 
@@ -80,6 +79,7 @@ enum HSI_STATUS
 	HSI_STATUS_VP_TIMEOUT = 350,
 	HSI_STATUS_VP_IMAGEPROCESS_FAIL
 };
+
 enum HSI_MACHINE_TYPE
 {
 	HSI_MACHINE_UNKNOWN = 0,
@@ -89,6 +89,7 @@ enum HSI_MACHINE_TYPE
 	HSI_MACHINE_GOOGOL = 4,
 	HSI_MACHINE_TYPE_TOTAL,
 };
+
 enum HSI_EVENT_TYPE
 {
 	HSI_EVENT_NONE = 0,
@@ -98,46 +99,79 @@ enum HSI_EVENT_TYPE
 	HSI_EVENT_SAFETY = 4,
 	HSI_EVENT_SAFETY_KEEP = 5
 };
+
 enum HSI_EVENT_FUNCTION_ID //                                EventData
-{                                          //  Send                              Receive
+{
+	//  Send                              Receive
 	// V4.2 & V4.3 +
-  HSI_EVENT_DONE = 0, //  N/A                               N/A    
-  HSI_EVENT_TAKE_HIT = 1, //  N/A                               N/A
-  HSI_EVENT_ERASE_HIT = 2,  //  N/A                                                            N/A
-  HSI_EVENT_TIME_CRITICAL = 3,  //  "ON", or "OFF"                                                 N/A
-  HSI_EVENT_ZOOM_IN = 4,  //  "MAX", "COARSE", or "FINE"                                     N/A
-  HSI_EVENT_ZOOM_OUT = 5,  //  "MAX", "COARSE", or "FINE"                                     N/A
-  HSI_EVENT_REFRESH_LIVE_VIEW = 6,  //  N/A                                                            N/A
-  HSI_EVENT_UPDATE_READOUTS = 7,  //  "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}"                        N/A 
-  HSI_EVENT_READ_MC_POSITION = 8,  //  "AxisFlags"                                                    "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}"
-  HSI_EVENT_MOVE_MC_POSITION = 9,  //  "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed},%1d{bWait}"  N/A
-  HSI_EVENT_CONVERT_MC_TO_GLOBAL = 10, //  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
-  HSI_EVENT_UPDATE_STATUS_MESSAGE = 11, //  N/A                                                            N/A
-  HSI_EVENT_OPENFILE_DLG = 12, //  N/A                                                            "FileName"
-  HSI_EVENT_DISPLAY_YESNO_MESSAGE = 13, //  N/A                                                            N/A 
-  HSI_EVENT_DISPLAY_OKCANCEL_MESSAGE = 14, //  N/A                                                            N/A  
-  HSI_EVENT_DISPLAY_OK_MESSAGE = 15, //  N/A                                                            N/A 
+	HSI_EVENT_DONE = 0,
+	//  N/A                               N/A    
+	HSI_EVENT_TAKE_HIT = 1,
+	//  N/A                               N/A
+	HSI_EVENT_ERASE_HIT = 2,
+	//  N/A                                                            N/A
+	HSI_EVENT_TIME_CRITICAL = 3,
+	//  "ON", or "OFF"                                                 N/A
+	HSI_EVENT_ZOOM_IN = 4,
+	//  "MAX", "COARSE", or "FINE"                                     N/A
+	HSI_EVENT_ZOOM_OUT = 5,
+	//  "MAX", "COARSE", or "FINE"                                     N/A
+	HSI_EVENT_REFRESH_LIVE_VIEW = 6,
+	//  N/A                                                            N/A
+	HSI_EVENT_UPDATE_READOUTS = 7,
+	//  "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}"                        N/A 
+	HSI_EVENT_READ_MC_POSITION = 8,
+	//  "AxisFlags"                                                    "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r}"
+	HSI_EVENT_MOVE_MC_POSITION = 9,
+	//  "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed},%1d{bWait}"  N/A
+	HSI_EVENT_CONVERT_MC_TO_GLOBAL = 10,
+	//  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
+	HSI_EVENT_UPDATE_STATUS_MESSAGE = 11,
+	//  N/A                                                            N/A
+	HSI_EVENT_OPENFILE_DLG = 12,
+	//  N/A                                                            "FileName"
+	HSI_EVENT_DISPLAY_YESNO_MESSAGE = 13,
+	//  N/A                                                            N/A 
+	HSI_EVENT_DISPLAY_OKCANCEL_MESSAGE = 14,
+	//  N/A                                                            N/A  
+	HSI_EVENT_DISPLAY_OK_MESSAGE = 15,
+	//  N/A                                                            N/A 
 
 	// V4.3 + Only
-  HSI_EVENT_DEBUG_LOG = 20, //  "%s"                                                           N/A 
-  HSI_EVENT_MOVE_MC_POSITION_AND_SETTLE = 21, //  "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed}"             N/A
-  HSI_EVENT_CONVERT_GLOBAL_TO_MM = 22, //  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
-  HSI_EVENT_CONVERT_ROT_TO_TABLE_POINT = 23, //  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
-  HSI_EVENT_CONVERT_ROT_OUT_TABLE_POINT = 24, //  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
-  HSI_EVENT_CONVERT_ROT_TO_TABLE_VECTOR = 25, //  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
-  HSI_EVENT_CONVERT_ROT_OUT_TABLE_VECTOR = 26, //  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
+	HSI_EVENT_DEBUG_LOG = 20,
+	//  "%s"                                                           N/A 
+	HSI_EVENT_MOVE_MC_POSITION_AND_SETTLE = 21,
+	//  "AxisFlags,%lf{x},%lf{y},%lf{z},%lf{r},%lf{speed}"             N/A
+	HSI_EVENT_CONVERT_GLOBAL_TO_MM = 22,
+	//  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
+	HSI_EVENT_CONVERT_ROT_TO_TABLE_POINT = 23,
+	//  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
+	HSI_EVENT_CONVERT_ROT_OUT_TABLE_POINT = 24,
+	//  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
+	HSI_EVENT_CONVERT_ROT_TO_TABLE_VECTOR = 25,
+	//  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
+	HSI_EVENT_CONVERT_ROT_OUT_TABLE_VECTOR = 26,
+	//  "%lf{x},%lf{y},%lf{z}"                                         "%lf{x},%lf{y},%lf{z}"
 	HSI_EVENT_ILLUMINATION_REFRESH = 27,
 	HSI_EVENT_ILLUMINATION_LOCK = 28,
 	HSI_EVENT_ILLUMINATION_STORE_SET = 29,
 	HSI_EVENT_ILLUMINATION_RESTORE_SET = 30,
-  HSI_EVENT_ILLUMINATION_DECREASE_ACTIVE = 31, // "%d"
-  HSI_EVENT_ILLUMINATION_INCREASE_ACTIVE = 32, // "%d"
-  HSI_EVENT_ILLUMINATION_DECREASE_ALL = 33, // "%d"
-  HSI_EVENT_ILLUMINATION_INCREASE_ALL = 34, // "%d"
-  HSI_EVENT_ILLUMINATION_SELECT_LAMP = 35, // "%d"
-  HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY = 36, // "%d"
-  HSI_EVENT_ILLUMINATION_GET_LAMP_INTENSITY = 37, // "%d"
-  HSI_EVENT_ILLUMINATION_SET_LAMP_CALIBRATION_OVERRIDE = 38, // "%d"
+	HSI_EVENT_ILLUMINATION_DECREASE_ACTIVE = 31,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_INCREASE_ACTIVE = 32,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_DECREASE_ALL = 33,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_INCREASE_ALL = 34,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_SELECT_LAMP = 35,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY = 36,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_GET_LAMP_INTENSITY = 37,
+	// "%d"
+	HSI_EVENT_ILLUMINATION_SET_LAMP_CALIBRATION_OVERRIDE = 38,
+	// "%d"
 	HSI_EVENT_ILLUMINATION_NEXT_RING = 39,
 	HSI_EVENT_ILLUMINATION_PREV_RING = 40,
 	HSI_EVENT_ILLUMINATION_NEXT_SECTOR = 41,
@@ -148,38 +182,57 @@ enum HSI_EVENT_FUNCTION_ID                  //                                Ev
 	HSI_EVENT_ILLUMINATION_ALLOFF = 46,
 	HSI_EVENT_ILLUMINATION_ALLON = 47,
 	HSI_EVENT_ILLUMINATION_UNLOCK = 48,
-  HSI_EVENT_IS_PROGRAMMING_MODE = 49, //                                                                  1/0
-  HSI_EVENT_IS_PORTLOCK_DCC = 50, //                                                                  1/0
-  HSI_EVENT_IS_ROTAB_ENABLED = 51, //                                                                  1/0
-  HSI_EVENT_IS_TIME_CRITICAL = 52, //                                                                 1/0
+	HSI_EVENT_IS_PROGRAMMING_MODE = 49,
+	//                                                                  1/0
+	HSI_EVENT_IS_PORTLOCK_DCC = 50,
+	//                                                                  1/0
+	HSI_EVENT_IS_ROTAB_ENABLED = 51,
+	//                                                                  1/0
+	HSI_EVENT_IS_TIME_CRITICAL = 52,
+	//                                                                 1/0
 	HSI_EVENT_CONVERT_MM_TO_GLOBAL = 53,
 	HSI_EVENT_CONVERT_GLOBAL_TO_MC = 54,
-  HSI_EVENT_LASER_FOCUS_ENABLE = 55, // "%d" 0 = not available, 1 = available
-  HSI_EVENT_MOVE_POINT = 56, //  N/A                                                            N/A
+	HSI_EVENT_LASER_FOCUS_ENABLE = 55,
+	// "%d" 0 = not available, 1 = available
+	HSI_EVENT_MOVE_POINT = 56,
+	//  N/A                                                            N/A
 	HSI_EVENT_MAG_CHANGED = 57,
-  HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY_IN_MACHINE_LEVELx100 = 58, // "%d"       //PR251359-- Instructed to "Please focus on slide" but it's rather unhelpfully turned the lights off for us.
-  HSI_EVENT_DCC_SCAN_POINTS_AVAILABLE = 59,  //  "%d"  = more to come, 1 = last set                             N/A
-  HSI_EVENT_ILLUMINATION_IS_ALL_OFF = 60,  //                                                                  1/0  //PR253777-- Sensilight does not work if the target has 'ALL OFF' for illum setting--4/16/2008
-  HSI_EVENT_ILLUMINATION_DECREASE_ALL_NONZERO = 61,  //   Sensilight command that wont change a lamp currently set to zero
-  HSI_EVENT_ILLUMINATION_INCREASE_ALL_NONZERO = 62,  //   Sensilight command that wont change a lamp currently set to zero22
+	HSI_EVENT_ILLUMINATION_SET_LAMP_INTENSITY_IN_MACHINE_LEVELx100 = 58,
+	// "%d"       //PR251359-- Instructed to "Please focus on slide" but it's rather unhelpfully turned the lights off for us.
+	HSI_EVENT_DCC_SCAN_POINTS_AVAILABLE = 59,
+	//  "%d"  = more to come, 1 = last set                             N/A
+	HSI_EVENT_ILLUMINATION_IS_ALL_OFF = 60,
+	//                                                                  1/0  //PR253777-- Sensilight does not work if the target has 'ALL OFF' for illum setting--4/16/2008
+	HSI_EVENT_ILLUMINATION_DECREASE_ALL_NONZERO = 61,
+	//   Sensilight command that wont change a lamp currently set to zero
+	HSI_EVENT_ILLUMINATION_INCREASE_ALL_NONZERO = 62,
+	//   Sensilight command that wont change a lamp currently set to zero22
 
-  HSI_EVENT_LP_QUALITY = 63,                         //  "%d" 0-100%
-  HSI_EVENT_TP_QUALITY = 64,                         //  "%d" 0-100%
-  HSI_EVENT_VP_QUALITY = 65,                         //  "%d" 0-100%
+	HSI_EVENT_LP_QUALITY = 63,
+	//  "%d" 0-100%
+	HSI_EVENT_TP_QUALITY = 64,
+	//  "%d" 0-100%
+	HSI_EVENT_VP_QUALITY = 65,
+	//  "%d" 0-100%
 
-  HSI_EVENT_FLYMODE_MOVE_COMPLETE = 66,        // A queued flymode move has completed
-  HSI_EVENT_PENDANT_SPEED_PERCENT = 67,        // 108336 HMV : Add calls to HSI.H for Speed
-  HSI_EVENT_PENDANT_AXES_SELECTED = 68,      // 108335 HMV : Need to add calls to the HSI.H for Stacked Rotary
+	HSI_EVENT_FLYMODE_MOVE_COMPLETE = 66,
+	// A queued flymode move has completed
+	HSI_EVENT_PENDANT_SPEED_PERCENT = 67,
+	// 108336 HMV : Add calls to HSI.H for Speed
+	HSI_EVENT_PENDANT_AXES_SELECTED = 68,
+	// 108335 HMV : Need to add calls to the HSI.H for Stacked Rotary
 
 	HSI_EVENT_MOTION = 500,
 	HSI_EVENT_MOTION_DCC_HOME = 501,
 	HSI_EVENT_MOTION_FOCUS_HOME = 502,
 	HSI_EVENT_MOTION_EMERGENT_STOP = 503,
-  HSI_EVENT_SHUTDOWN_ = 999,  //  N/A                                                            N/A
+	HSI_EVENT_SHUTDOWN_ = 999,
+	//  N/A                                                            N/A
 	HSI_EVENT_MOTION_DRIVER_ALARM = 1000,
 	HSI_EVENT_MOTION_PROBE = 1001,
 	HSI_EVENT_MOTION_DISPENSER = 1002
 };
+
 enum HSI_NOTIFY_TYPE
 {
 	HSI_NOTIFY_PROGRAM_EXECUTION_START = 0,
@@ -193,6 +246,7 @@ enum HSI_NOTIFY_TYPE
 	HSI_NOTIFY_CLEAR_ITERATIONS = 7,
 	HSI_NOTIFY_EMERGENCY_STATE = 9
 };
+
 enum HSI_EVENT_RESPONSE_TYPE
 {
 	HSI_EVENT_CALLBACK = 0,
@@ -216,6 +270,7 @@ struct sHSIEventProperties
 	HSI_EVENT_TYPE EventType;
 	HSI_EVENT_RESPONSE_TYPE EventResponse;
 	char EventData[HSI_MaxStringLength + 1];
+
 	void Init()
 	{
 		EventID = 0;
@@ -224,6 +279,7 @@ struct sHSIEventProperties
 		EventResponse = HSI_EVENT_CALLBACK;
 		memset(EventData, 0, (HSI_MaxStringLength + 1) * sizeof(char));
 	};
+
 	sHSIEventProperties()
 	{
 		Init();
@@ -231,9 +287,9 @@ struct sHSIEventProperties
 };
 
 
-
 // >>>> In Interfaces
-typedef VOID(WINAPI *pEventCallback)(HSI_EVENT_TYPE EventType, HSI_EVENT_RESPONSE_TYPE ResponseType, UINT EventID, char EventData[HSI_MaxStringLength + 1], UINT &EventCallbackID);
+using pEventCallback = VOID(WINAPI *)(HSI_EVENT_TYPE EventType, HSI_EVENT_RESPONSE_TYPE ResponseType, UINT EventID,
+                                      char EventData[HSI_MaxStringLength + 1], UINT& EventCallbackID);
 HSI_API HSI_STATUS WINAPI HSI_STARTUP(HWND _hWnd, bool _bOfflineOnly);
 HSI_API HSI_STATUS WINAPI HSI_GET_INTERFACE_VERSION(UINT& APIVersionMajor, UINT& APIVersionMinor);
 HSI_API HSI_STATUS WINAPI HSI_GET_MACHINE_INFO(int& _NumMachineTypes);
@@ -263,38 +319,60 @@ enum HSI_MOTION_TYPE
 
 enum HSI_MOTION_AXIS_TYPE
 {
-  HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines
-  HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines
-  HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines
-  HSI_MOTION_AXIS_R = 0x0008, // This is the default "Sensor level" R Axis - use on single R axis machines
-  HSI_MOTION_AXIS_X1 = 0x0010, // This is the 1st X Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_Y1 = 0x0020, // This is the 1st Y Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_Z1 = 0x0040, // This is the 1st Z Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_R1 = 0x0080, // This is the 1st R Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_X2 = 0x0100, // This is the 2nd X Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_Y2 = 0x0200, // This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_Z2 = 0x0400, // This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_R2 = 0x0800, // This is the 2nd R Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_X3 = 0x1000, // This is the 3rd X Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_Y3 = 0x2000, // This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
-  HSI_MOTION_AXIS_Z3 = 0x4000, // This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_X = 0x0001,
+	// This is the default "Sensor level" X Axis - use on single X axis machines
+	HSI_MOTION_AXIS_Y = 0x0002,
+	// This is the default "Sensor level" Y Axis - use on single Y axis machines
+	HSI_MOTION_AXIS_Z = 0x0004,
+	// This is the default "Sensor level" Z Axis - use on single Z axis machines
+	HSI_MOTION_AXIS_R = 0x0008,
+	// This is the default "Sensor level" R Axis - use on single R axis machines
+	HSI_MOTION_AXIS_X1 = 0x0010,
+	// This is the 1st X Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Y1 = 0x0020,
+	// This is the 1st Y Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Z1 = 0x0040,
+	// This is the 1st Z Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_R1 = 0x0080,
+	// This is the 1st R Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_X2 = 0x0100,
+	// This is the 2nd X Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Y2 = 0x0200,
+	// This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Z2 = 0x0400,
+	// This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_R2 = 0x0800,
+	// This is the 2nd R Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_X3 = 0x1000,
+	// This is the 3rd X Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Y3 = 0x2000,
+	// This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Z3 = 0x4000,
+	// This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
 	HSI_MOTION_AXIS_R3 = 0x8000 // This is the 3rd R Axis - use on multiple axis machines when specific axis needed
 };
+
 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
 };
 
@@ -318,16 +396,20 @@ enum HSI_MOTION_AXIS_R_MOVE_TYPE
 	HSI_MOTION_AXIS_R_ANTICLOCKWISE = 2,
 	HSI_MOTION_AXIS_R_FASTEST = 3
 };
+
 enum HSI_SCAN_MOTION_TYPE
 {
 	HSI_SCAN_MOTION_LINEAR = 1,
 	HSI_SCAN_MOTION_CIRCULAR,
 
-  HSI_SCAN_MOTION_SPEC_LOCA = 100,//EF1
+	HSI_SCAN_MOTION_SPEC_LOCA = 100,
+	//EF1
 	HSI_SCAN_MOTION_EQ_DIS,
 	HSI_SCAN_MOTION_EQ_DIS_II,
-  HSI_SCAN_MOTION_LINEAR_TEST,//测试使用
-  HSI_SCAN_MOTION_EQ_TEST,//测试使用
+	HSI_SCAN_MOTION_LINEAR_TEST,
+	//测试使用
+	HSI_SCAN_MOTION_EQ_TEST,
+	//测试使用
 	HSI_SCAN_MOTION_MANUAL_TEST //测试使用
 };
 
@@ -338,12 +420,12 @@ enum HSI_ZOOM_TYPE
 	HSI_ZOOM_NAVITAR=3
 };
 
-typedef struct
+using Point = struct
 {
 	double x;
 	double y;
 	double z;
-}Point;
+};
 const int HSI_MAX_POSITIONS_STORED = 500;
 
 // >>>> In Interfaces
@@ -356,15 +438,14 @@ HSI_API HSI_STATUS WINAPI HSI_EF3MOTION_GET_SPEED_XYZ(int axis, double &Speed);
 HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_EX(UINT AxisTypes, double Speed);
 HSI_API HSI_STATUS WINAPI HSI_MOTION_JOG(UINT AxisTypes, double Speed);
 HSI_API HSI_STATUS WINAPI HSI_MOTION_STOP_JOG();
-HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double &PositionX, double &PositionY, double &PositionZ, double &Time);
-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);
+HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_POSITION_XYZ(UINT AxisTypes, double& PositionX, double& PositionY,
+                                                      double& PositionZ, double& Time);
+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);
 HSI_API HSI_STATUS WINAPI HSI_MOTION_ABORT_MOTION();
 HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool& bHomed);
 
 
-
-
-
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED(UINT &Types);
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SPEED_XYZ(double &Speed);
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_SET_SPEED_XYZ(double  Speed);
@@ -391,7 +472,6 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed);
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_DCC_SCAN_STOP();
 
 
-
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_SUPPORTED_EX(UINT AxisTypes, UINT &Types);
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_STARTUP_EX(UINT AxisTypes, bool bHome);
 //HSI_API HSI_STATUS WINAPI HSI_MOTION_GET_SCALE_RESOLUTION_EX(UINT AxisTypes, double &Scale);
@@ -420,7 +500,6 @@ HSI_API HSI_STATUS WINAPI HSI_MOTION_IS_HOMED(bool &bHomed);
 #ifdef USE_Illumination_API
 
 
-
 ///////////////////////////////////////////////////////////////////////////////
 //  Illumination API
 ///////////////////////////////////////////////////////////////////////////////
@@ -505,19 +584,34 @@ HSI_API HSI_STATUS WINAPI HSI_ILLUMINATION_SHUTDOWN();
 #endif // !USE_Illumination_API
 
 
-
 class HSI
 {
 public:
-  HSI() : hWnd(nullptr), bOfflineOnly(false){}
-  virtual ~HSI(){}
-  virtual HSI_STATUS IsSupported(UINT &Types){ Types = 0; return HSI_STATUS_NORMAL; }
-  virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly){ hWnd = _hWnd; bOfflineOnly = _bOfflineOnly; return HSI_STATUS_NORMAL; }
+	HSI() : hWnd(nullptr), bOfflineOnly(false)
+	{
+	}
+
+	virtual ~HSI()
+	{
+	}
+
+	virtual HSI_STATUS IsSupported(UINT& Types)
+	{
+		Types = 0;
+		return HSI_STATUS_NORMAL;
+	}
+
+	virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly)
+	{
+		hWnd = _hWnd;
+		bOfflineOnly = _bOfflineOnly;
+		return HSI_STATUS_NORMAL;
+	}
+
 	virtual HSI_STATUS Shutdown() { return HSI_STATUS_NORMAL; }
 protected:
 	HWND hWnd;
 	bool bOfflineOnly;
 	sHSIEventProperties sEvenProp;
-
 };
 #endif

HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj

@@ -76,6 +76,7 @@
     <LinkIncremental>true</LinkIncremental>
     <IncludePath>\DirectXLib\Include;$(IncludePath)</IncludePath>
     <OutDir>$(MSBuildProjectDirectory)\$(Platform)\$(Configuration)\</OutDir>
+    <IntDir>$(MSBuildProjectDirectory)\obj</IntDir>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <LinkIncremental>true</LinkIncremental>
@@ -171,6 +172,7 @@ xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
+    <ClInclude Include="ACS\ACSC.h" />
     <ClInclude Include="HSI.h" />
     <ClInclude Include="SevenOcean\CMMIO_BASE.H" />
     <ClInclude Include="logger.h" />
@@ -196,6 +198,9 @@ xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
     </ClCompile>
   </ItemGroup>
+  <ItemGroup>
+    <Library Include="ACS\ACSCL_x64.LIB" />
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>

HSI_HexagonMI_EF3/HSI_HexagonMI_EF3.vcxproj.filters

@@ -20,5 +20,9 @@
     <ClInclude Include="targetver.h" />
     <ClInclude Include="version.h" />
     <ClInclude Include="SevenOcean\CMMIO_SERIAL.H" />
+    <ClInclude Include="ACS\ACSC.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <Library Include="ACS\ACSCL_x64.LIB" />
   </ItemGroup>
 </Project>

HSI_HexagonMI_EF3/HSI_Motion.h

@@ -3,7 +3,7 @@
 #pragma once
 
 #include "logger.h"
-#include "SevenOcean\CMMIO_SERIAL.H"
+#include "SevenOcean/CMMIO_SERIAL.H"
 
 #define TCPIP_THREAD_RUNNING            0
 #define TCPIP_THREAD_PAUSED             1
@@ -25,30 +25,42 @@ enum E_SO7_MOTION_TYPE
 	E_SO7_MOTION_MOVETO,
 	E_SO7_MOTION
 };
+
 enum E_EF3_HOME_STATUS
 {
-  E_EF3_HOME_NONE,//0表示从未回过回原点
-  E_EF3_HOME_ING,//1表示正在回原点
-  E_EF3_HOME_FINISHED,//2表示已经回过原点
+	E_EF3_HOME_NONE,
+	//0表示从未回过回原点
+	E_EF3_HOME_ING,
+	//1表示正在回原点
+	E_EF3_HOME_FINISHED,
+	//2表示已经回过原点
 };
 
 enum FUN_CMD //第一级指令
 {
-  CT_MOTOR = 0x01,  //MOTOR
-  CT_LIGHT,		//LIGHT
-  CT_PORT,		//PORT
-  CT_ORDER,			//ORDER
-  CT_SOFTSTOP,		//STOP
-  CT_GLUEDISPENSER, //点胶
+	CT_MOTOR = 0x01,
+	//MOTOR
+	CT_LIGHT,
+	//LIGHT
+	CT_PORT,
+	//PORT
+	CT_ORDER,
+	//ORDER
+	CT_SOFTSTOP,
+	//STOP
+	CT_GLUEDISPENSER,
+	//点胶
 	CT_TURNTABLE,
 };
 
 enum MOTOR_CMD //第二级指令
 {
 	CT_MOTOR_SET = 0x01,
-  CT_START_JOG_POS,   //
+	CT_START_JOG_POS,
+	//
 	CT_START_JOG_NEG,
-  CT_START_POSITION,  //_POS,
+	CT_START_POSITION,
+	//_POS,
 	CT_STOP,
 	CT_GOHOME,
 	CT_TRIGGER_DATA,
@@ -72,8 +84,10 @@ enum MOTOR_CMD  //
 
 enum MOTOR_START_POSOTION // 		
 {
-  INTERPOLATION = 0x61,//插补
-  GANGED = 0x41,//独立
+	INTERPOLATION = 0x61,
+	//插补
+	GANGED = 0x41,
+	//独立
 	CIRCLER = 0x64,
 	CIRCLEL = 0x65,
 };
@@ -123,7 +137,8 @@ enum E_SO7_MOTION_READ_TYPE
 	E_DATA_TYPE_IO,
 };
 
-typedef enum {
+using TCPIP_RETURN_CODE = enum
+{
 	TCPIP_CONNECT_OK = 0,
 	TCPIP_INIT_WINSOCK_ERROR,
 	TCPIP_INVAILD_SOCKET,
@@ -134,18 +149,15 @@ typedef enum {
 	TCPIP_TIMEOUT,
 	TCPIP_WSAEWOULDBLOCK = 10035,
 	TCPIP_CONNECT_STATUS_UNKNOWN
-
-} TCPIP_RETURN_CODE;
+};
 
 class HSI_Motion : public HSI
 {
 public:
 	HSI_Motion();
-	~HSI_Motion();
-	HSI_STATUS IsSupported(UINT &Types);
-
-	virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly);
-
+	~HSI_Motion() override;
+	HSI_STATUS IsSupported(UINT& Types) override;
+	HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly) override;
 	HSI_STATUS GetFirmwareVersion(byte* version);
 
 	HSI_STATUS HomeMachine(bool bHomed);
@@ -171,18 +183,20 @@ public:
 	HSI_STATUS Jog(UINT AxisTypes, double Speed);
 	HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
 	HSI_STATUS StopJog();
-
 	HSI_STATUS StopJogEx(UINT AxisTypes);
 
 	HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
 	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);
+	HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
+	                                double& PositionA);
 	HSI_STATUS GetEncoderXyz(long* lEncoderVal);
 	HSI_STATUS JogProbe(UINT AxisTypes, double Speed);
 	void ProbeRetractManDist(int RetractManDist);
 	int CaculateStepMotorACC(int pos, int maxacc, int minacc);
-	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 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);
@@ -195,7 +209,7 @@ public:
 	HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
 	HSI_STATUS GetAxisStatus(int* _Status);
 	HSI_STATUS GetAppPath(CString& Path);
-	virtual HSI_STATUS Shutdown();
+	HSI_STATUS Shutdown() override;
 
 	HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT& Types);
 	HSI_STATUS StartupEx(UINT AxisTypes, bool bHome);
@@ -209,7 +223,8 @@ public:
 	HSI_STATUS GetAccelerationEx(UINT AxisTypes, double& Accel);
 	HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel);
 
-	HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor,int triggleMode, double* Intensities);
+	HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor, int triggleMode,
+	                           double* Intensities);
 	HSI_STATUS DCCPPStartPoint(double* startPoint);
 	HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
 	HSI_STATUS DCCScanStart();
@@ -221,10 +236,12 @@ public:
 
 	HSI_STATUS FindOriginTest(bool state);
 
-	HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea,int filterTime1, int filterTime2,int pluseSumDis);
+	HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea, int filterTime1, int filterTime2,
+	                       int pluseSumDis);
 	HSI_STATUS SendBinResult(int* BinResult);
 	HSI_STATUS GetTriggleCount(int* nCount, int& nArea);
-	HSI_STATUS GluePPSpnts(int* ppsDir, double* gluePPSPos, int* delayLightBefore, int* lightTime, double* lightData, int num);
+	HSI_STATUS GluePPSpnts(int* ppsDir, double* gluePPSPos, int* delayLightBefore, int* lightTime, double* lightData,
+	                       int num);
 	HSI_STATUS GlueDispenser(int* index, int* cirdirection, double* gluePos, int num);
 	HSI_STATUS GlueDispenserStart(double xOffset, double yOffset, double qOffset);
 	HSI_STATUS GetPntsDistance(double& ptpDistance, int& spTimeCount);
@@ -300,8 +317,8 @@ public:
 
 	int m_LogIsOpen[5]; //是否打开记录，0为打开，非0为关闭
 
-  unsigned int m_precisionCount[5];
-  unsigned int m_precisionTime[5];
+	unsigned int m_precisionCount[5]; //回家误差脉冲个数
+	unsigned int m_precisionTime[5]; //超时时间(0.1ms)
 	int m_StopJogMode[5]; //JOG模式采用急停还是平滑停止
 	double m_PosThread[5]; //SetpositionXyz的目标位置
 	int m_PosNow[5]; //调用SetpositionXyz时，读取当前位置
@@ -342,8 +359,8 @@ public:
 	int m_UseAxisNum; //转盘设备使用轴号
 	int m_IbinCount; //记录获取到的分bin数
 	bool m_IsUsePPS;
-	int m_iJoyStick;//遥感类型：0：无 1：老式摇杆
-  int m_bISUseMoreLights;
+	int m_iJoyStick; //摇杆类型：0：无 1：老式摇杆
+	int m_bISUseMoreLights; //更多灯光
 	int m_EF3LightType;
 	int m_LightType;
 	int m_IsUseFourthSpeed;
@@ -476,9 +493,12 @@ public:
 	void SendMsgMotionFinished();
 	void SendMsgProbeFinished();
 	VOID EventCallback(sHSIEventProperties& sEventProp);
-	int SpeedPercent(int AxisNum, double &Speed,int &DriveSpeed,int &StartSpeed, int &AccLine, int &DecLine,int &AccCurve,int &DecCurve);
-	bool SpeedPercentJoyStick(int AxisNum, long &Speed, int &DriveSpeed, int &StartSpeed, int &AccLine, int &DecLine, int &AccCurve, int &DecCurve);
-	void HomeJogGearsChoice(int AxisType, int JogGears, int &DriveSpeed, int &StartSpeed, int &AccLine, int &DecLine, int &AccCurve, int &DecCurve);
+	int SpeedPercent(int AxisNum, double& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
+	                 int& AccCurve, int& DecCurve);
+	bool SpeedPercentJoyStick(int AxisNum, long& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
+	                          int& AccCurve, int& DecCurve);
+	void HomeJogGearsChoice(int AxisType, int JogGears, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
+	                        int& AccCurve, int& DecCurve);
 	short AxisConvertIndex(UINT AxisTypes);
 	short IndexConvertAxis(int Index);
 	double LimitOver(UINT AxisTypes, double& LimitPos);
@@ -531,5 +551,3 @@ private:
 
 extern HSI_Motion* g_pHSI_Motion;
 #endif
-
-

HSI_HexagonMI_EF3/HSI_Sevenocean_EF3.cpp

@@ -11,7 +11,6 @@
 #endif
 
 
-
 //===========================================================================
 HSI_Sevenocean_EF3* g_pHSI_Sevenocean_EF3 = nullptr;
 
@@ -19,15 +18,17 @@ pEventCallback HSI_Sevenocean_EF3::m_pEventCallback = nullptr;
 //===========================================================================
 HSI_Sevenocean_EF3::HSI_Sevenocean_EF3()
 {
-  hWnd = NULL;
+	hWnd = nullptr;
 	bOfflineOnly = false;
 	TRACE0("HSI_Sevenocean_EF3 Constructor!\n");
 }
+
 //===========================================================================
 HSI_Sevenocean_EF3::~HSI_Sevenocean_EF3()
 {
 	TRACE0("HSI_Sevenocean_EF3 Destructor!\n");
 }
+
 //===========================================================================
 /**
  * HSI ³õʼ»¯
@@ -43,13 +44,15 @@ HSI_STATUS HSI_Sevenocean_EF3::Startup(HWND _hWnd, bool _bOfflineOnly)
 	bOfflineOnly = _bOfflineOnly;
 	return rStatus;
 }
+
 //===========================================================================
 HSI_STATUS HSI_Sevenocean_EF3::GetMachineInfo(int& _NumMachineTypes)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
-  _NumMachineTypes = HSI_MACHINE_EF3;
+	_NumMachineTypes = HSI_MACHINE_EF3; //机器类型EF3
 	return rStatus;
 }
+
 //===========================================================================
 HSI_STATUS HSI_Sevenocean_EF3::SetEventCallback(pEventCallback _pCallback)
 {
@@ -66,14 +69,17 @@ HSI_STATUS HSI_Sevenocean_EF3::SetEventCallback(pEventCallback _pCallback)
 	}
 	return rStatus;
 }
+
 //===========================================================================
 VOID HSI_Sevenocean_EF3::EventCallback(sHSIEventProperties& _sEventProp)
 {
 	if (m_pEventCallback)
 	{
-    m_pEventCallback(_sEventProp.EventType, _sEventProp.EventResponse, _sEventProp.EventID, _sEventProp.EventData, _sEventProp.EventCallbackID);
+		m_pEventCallback(_sEventProp.EventType, _sEventProp.EventResponse, _sEventProp.EventID, _sEventProp.EventData,
+		                 _sEventProp.EventCallbackID);
 	}
 }
+
 //===========================================================================
 HSI_STATUS HSI_Sevenocean_EF3::Shutdown()
 {

HSI_HexagonMI_EF3/HSI_Sevenocean_EF3.h

@@ -15,16 +15,14 @@ class HSI_Sevenocean_EF3 :public HSI
 {
 public:
 	HSI_Sevenocean_EF3();
-  ~HSI_Sevenocean_EF3();
-  virtual HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly);
+	~HSI_Sevenocean_EF3() override;
+	HSI_STATUS Startup(HWND _hWnd, bool _bOfflineOnly) override;
 	HSI_STATUS GetMachineInfo(int& _NumMachineTypes);
 	HSI_STATUS SetEventCallback(pEventCallback _pCallback);
-  virtual HSI_STATUS Shutdown();
+	HSI_STATUS Shutdown() override;
 	static VOID EventCallback(sHSIEventProperties& sEventProp);
 private:
 	static pEventCallback m_pEventCallback;
 };
 
 extern HSI_Sevenocean_EF3* g_pHSI_Sevenocean_EF3;
-
-

HSI_HexagonMI_EF3/SevenOcean/CMMIO_BASE.CPP

@@ -14,20 +14,20 @@
 /////////////////////////////////////////////////////////////////////////////
 void CMMIO::Init()
 {
-  m_RXTempPtr = NULL;
-  m_RXHead=NULL;
-  m_RXTail=NULL;
-  m_SXTempPtr = NULL;
-  m_SXHead=NULL;
-  m_SXTail=NULL;
+	m_RXTempPtr = nullptr;
+	m_RXHead = nullptr;
+	m_RXTail = nullptr;
+	m_SXTempPtr = nullptr;
+	m_SXHead = nullptr;
+	m_SXTail = nullptr;
 	CurrentPointer = 0;
 	m_iNbMsgWaiting = 0;
 	m_terminator = '\0';
 	m_usesTerminator = FALSE;
-  m_pReceiveNotify = NULL;
+	m_pReceiveNotify = nullptr;
 }
 
-void CMMIO::SetCallback(CMMIO::p_fstr ptr)
+void CMMIO::SetCallback(p_fstr ptr)
 {
 	m_pReceiveNotify = ptr;
 }
@@ -43,11 +43,11 @@ DWORD CMMIO::Send(CString buffer, BOOL needsResponse/*=FALSE*/)
 		length = MAX_OUTPUT_BUFFER_SIZE;
 	}
 
-  unsigned short* ptr = (unsigned short*)buffer.GetBuffer (MAX_OUTPUT_BUFFER_SIZE);
+	auto ptr = (unsigned short*)buffer.GetBuffer(MAX_OUTPUT_BUFFER_SIZE);
 
 	for (int i = 0; i < length; i++)
 	{
-    LocBuffer[i] = (char)(ptr[i] & 0xff);
+		LocBuffer[i] = static_cast<char>(ptr[i] & 0xff);
 	}
 	DWORD res = Send(LocBuffer, length, needsResponse);
 
@@ -65,9 +65,9 @@ int CMMIO::GetNextReceived(char *inputBuf)
 	int cnt = 0;
 
 	// If there is a previous block then delete it
-  if (NULL != m_RXTempPtr)
+	if (nullptr != m_RXTempPtr)
 		delete[] m_RXTempPtr;
-  m_RXTempPtr = NULL;
+	m_RXTempPtr = nullptr;
 
 	// We are messing with pointers so use the CriticalSection
 	//  EnterCriticalSection(&m_QueueLock);
@@ -86,12 +86,12 @@ int CMMIO::GetNextReceived(char *inputBuf)
 		--m_iNbMsgWaiting; // mp
 
 		// move over the data to the user's buffer
-    if (NULL != inputBuf)
+		if (nullptr != inputBuf)
 			memcpy(inputBuf, m_RXTempPtr, cnt);
 	}
 
-  if( m_RXHead == NULL )
-    m_RXTail = NULL;
+	if (m_RXHead == nullptr)
+		m_RXTail = nullptr;
 
 	// All done so out of the CriticalSection
 	//  LeaveCriticalSection( &m_QueueLock );
@@ -156,8 +156,9 @@ int CMMIO::AddReceived( const char *Buffer,DWORD Bytes)
 			//Allocate a new list and add it in
 			count = pBuffer2 - (&Buffer2[0]);
 			if (m_pReceiveNotify)
-      { // send a string to callback or,
-        char* pLocalBuffer = new char[count+1];
+			{
+				// send a string to callback or,
+				auto pLocalBuffer = new char[count + 1];
 				if (pLocalBuffer)
 				{
 					memcpy(pLocalBuffer, Buffer2, count);
@@ -168,7 +169,8 @@ int CMMIO::AddReceived( const char *Buffer,DWORD Bytes)
 				}
 			}
 			else
-      { // add it as before to received data ....
+			{
+				// add it as before to received data ....
 				Ptr = new struct SerialList;
 				Ptr->Buffer = new char[count + 1];
 				/************************************************************************/
@@ -181,7 +183,7 @@ int CMMIO::AddReceived( const char *Buffer,DWORD Bytes)
 #else
         Ptr->Bytes = count,__FILE__,__LINE__;
 #endif
-        Ptr->Next = NULL;
+				Ptr->Next = nullptr;
 				memcpy(Ptr->Buffer, Buffer2, count);
 				Ptr->Buffer[count] = 0;
 
@@ -221,7 +223,8 @@ void CMMIO::LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter /*= FALSE
 			m_InputBuffer[CurrentPointer++] = c;
 
 			// only add a packet if we have a delimiter
-      if ((!m_usesTerminator && i == nbCharAvail -1) || (m_usesTerminator && c == m_terminator) || ignoreDelimiter)
+			if ((!m_usesTerminator && i == nbCharAvail - 1) || (m_usesTerminator && c == m_terminator) ||
+				ignoreDelimiter)
 			{
 				m_InputBuffer[CurrentPointer] = '\0';
 				AddReceived(m_InputBuffer, CurrentPointer);
@@ -238,7 +241,7 @@ DWORD CMMIO::Close()
 
 	// Delete the contents of the temp rx pointer if any
 	delete[] m_RXTempPtr;
-  m_RXTempPtr = NULL;
+	m_RXTempPtr = nullptr;
 
 	// Clear down all internal lists
 	//  EnterCriticalSection( &m_QueueLock );
@@ -249,7 +252,7 @@ DWORD CMMIO::Close()
 		delete[] Free->Buffer;
 		delete Free;
 	}
-  m_RXHead = NULL;
+	m_RXHead = nullptr;
 
 	// for now we are not using the Transmit list
 #if 0
@@ -265,9 +268,8 @@ DWORD CMMIO::Close()
 #endif
 	//  LeaveCriticalSection( &m_QueueLock );
 	return (TRUE);
-
 }
+
 ///////////////////////////////////////////////////////////////////////////////
 // END OF BASE CLASS CMMIO
 ///////////////////////////////////////////////////////////////////////////////
-

HSI_HexagonMI_EF3/SevenOcean/CMMIO_BASE.H

@@ -7,6 +7,7 @@
 
 #define MAX_OUTPUT_BUFFER_SIZE 2048
 #define MAX_RECIEVE_BUFFER_SIZE 3000
+
 // TCP, serial style routines
 struct SerialList
 {
@@ -37,7 +38,7 @@ protected:
 	CString m_lastErrMsg;
 	int m_iNbMsgWaiting;
 	BOOL m_UseBuffferedSend;
-  CRITICAL_SECTION m_QueueLock;
+	CRITICAL_SECTION m_QueueLock; //ÁÙ½çÇø
 	CRITICAL_SECTION m_ReadLock;
 	CRITICAL_SECTION m_WriteLock;
 
@@ -48,7 +49,8 @@ protected:
 protected:
 	virtual void Init();
 	int AddReceived(const char* Buffer, DWORD Bytes); //  [7/30/2004]
-  void  Error(CString sErr) {
+	void Error(CString sErr)
+	{
 		TRACE(sErr);
 		m_LastError = sErr;
 		m_hasError = TRUE;
@@ -59,7 +61,8 @@ protected:
 public:
 	CMMIO()
 	{
-    InitializeCriticalSection( &m_QueueLock );  // Sean Flynn mutex needs to be initialized prior to attempting to lock otherwise it will core
+		InitializeCriticalSection(&m_QueueLock);
+		// Sean Flynn mutex needs to be initialized prior to attempting to lock otherwise it will core
 		InitializeCriticalSection(&m_ReadLock); // initializing here will ensure the mutex is always initialized
 		InitializeCriticalSection(&m_WriteLock);
 		Init();
@@ -72,11 +75,13 @@ public:
 		DeleteCriticalSection(&m_WriteLock);
 	};
 
-  virtual DWORD Open() {
+	virtual DWORD Open()
+	{
 		return 0;
 	}
 
-  BOOL  getError(CString& sErr) {
+	BOOL getError(CString& sErr)
+	{
 		BOOL hasError = m_hasError;
 		if (m_hasError)
 		{
@@ -86,21 +91,27 @@ public:
 		return (hasError);
 	}
 
-  virtual int   GetNextReceived(char *inputBuf=NULL);
+	virtual int GetNextReceived(char* inputBuf = nullptr);
 
-  virtual int   HasNextReceived(void) {
+	virtual int HasNextReceived(void)
+	{
 		return (m_RXHead ? m_RXHead->Bytes : FALSE);
 	}
-  virtual void  SetTerminateChar(char ch) {
+
+	virtual void SetTerminateChar(char ch)
+	{
 		m_terminator = ch;
 		m_usesTerminator = TRUE;
 	}
+
 	virtual void LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter = FALSE);
-  virtual CString GetLastErrStr() {
+
+	virtual CString GetLastErrStr()
+	{
 		return m_lastErrMsg;
 	}
 
-  typedef  void(*p_fstr)(CString);
+	using p_fstr = void(*)(CString);
 	void SetCallback(p_fstr);
 
 	virtual DWORD Send(LPCSTR buffer, int l, BOOL needsResponse = FALSE) = 0; //  [8/11/2004]

HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP

@@ -31,7 +31,7 @@ unsigned int WINAPI CSerialTask(LPVOID CSerialPtr)
 {
 	TRACE(TEXT("Serial task has started \n"));
 	// Call the ControlTask function in the specified plugin
-  ((CPSerial *)CSerialPtr)->ReceiveTask();
+	static_cast<CPSerial*>(CSerialPtr)->ReceiveTask();
 
 	TRACE(TEXT("Serial task has completed \n"));
 
@@ -58,7 +58,7 @@ CPSerial::CPSerial()
 	m_iRecvBytes = 0;
 	memset(m_RecvData, 0,MAX_RECIEVE_BUFFER_SIZE);
 	// Everything else set to NULL
-  m_ThreadHandle = NULL;
+	m_ThreadHandle = nullptr;
 	//m_TXHead = NULL;
 	//m_TXTail = NULL;
 	//m_RXHead = NULL;
@@ -68,9 +68,30 @@ CPSerial::CPSerial()
 	memset(&m_ReadOLap, 0, sizeof(OVERLAPPED));
 	memset(&m_WriteOLap, 0, sizeof(OVERLAPPED));
 
-  m_hWaitCMMResponse = CreateEvent( NULL, TRUE, FALSE, NULL );
-  m_hNewRx = CreateEvent( NULL, TRUE, FALSE, NULL ); // to trigger OnRx
-  m_ReadOLap.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
+	//事件最常用在多线程同步互斥机制。
+	//1、HANDLE CreateEvent(
+	//
+	//	LPSECURITY_ATTRIBUTES lpEventAttributes,　// SECURITY_ATTRIBUTES结构指针，可为NULL
+	//	BOOL bManualReset,     // 手动/自动
+	//					// TRUE：表示手动，在WaitForSingleObject后必须手动调用ResetEvent清除信号
+	//					// FALSE：表示自动，在WaitForSingleObject后，系统自动清除事件信号
+	//	BOOL bInitialState,        //初始状态，FALSE为无信号，TRUE为有信号
+	//	LPCTSTR lpName         //事件的名称
+	//);
+	//
+	//2、SetEvent：设置为激活触发状态。
+	//
+	//3、ResetEvent：设置为未激活触发状态。
+	//
+	//4、WaitForSingleObject：检测信号，如果未激活，代码就会处于挂起状态，不再往下执行。
+	//
+	//————————————————
+	//版权声明：本文为CSDN博主「AI浩」的原创文章，遵循CC 4.0 BY - SA版权协议，转载请附上原文出处链接及本声明。
+	//原文链接：https ://blog.csdn.net/hhhhhhhhhhwwwwwwwwww/article/details/108380956
+
+	m_hWaitCMMResponse = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+	m_hNewRx = CreateEvent(nullptr, TRUE, FALSE, nullptr); // to trigger OnRx
+	m_ReadOLap.hEvent = CreateEvent(nullptr, TRUE, FALSE, nullptr);
 
 	//m_RXTempPtr = NULL;
 	m_DebugInPtr = 0;
@@ -87,8 +108,8 @@ CPSerial::CPSerial()
 	//	IsValidBuffer = FALSE;
 	CurrentPointer = 0;
 
-  m_hWaitCMMResponse = CreateEvent( NULL, TRUE, FALSE, NULL );
-  m_hNewRx = CreateEvent( NULL, TRUE, FALSE, NULL ); // to trigger OnRx
+	m_hWaitCMMResponse = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+	m_hNewRx = CreateEvent(nullptr, TRUE, FALSE, nullptr); // to trigger OnRx
 	//	pParent = NULL;
 }
 
@@ -103,8 +124,7 @@ CPSerial::~CPSerial()
 		TRACE(TEXT("Warning : closing serial port in destructor\n"));
 		Close();
 	}
-  while(GetNextReceived())
-    ; // mp 3/3/99 prevents leaks
+	while (GetNextReceived()); // mp 3/3/99 prevents leaks
 	/*
 	DeleteCriticalSection( &m_QueueLock );
 	DeleteCriticalSection( &m_ReadLock );
@@ -146,10 +166,10 @@ DWORD CPSerial::Open()
 #else
 	PortName.Format(TEXT("COM%d"), m_Port);
 #endif
-  m_PortHandle = CreateFile( PortName, GENERIC_WRITE | GENERIC_READ, 0, NULL,
+	m_PortHandle = CreateFile(PortName, GENERIC_WRITE | GENERIC_READ, 0, nullptr,
 	                          OPEN_EXISTING,
 	                          FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED,
-    NULL );
+	                          nullptr);
 	if (IsOpen())
 	{
 		// Setup the port according to the stored parameters
@@ -172,9 +192,9 @@ DWORD CPSerial::Open()
 					{
 						// Initialize the Overlapping structures and start the
 						// monitoring task
-            m_ReceiveOLap.hEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
-            m_TransmitOLap.hEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
-            m_ThreadHandle = (HANDLE)_beginthreadex( NULL, 0, CSerialTask, this,
+						m_ReceiveOLap.hEvent = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+						m_TransmitOLap.hEvent = CreateEvent(nullptr, TRUE, FALSE, nullptr);
+						m_ThreadHandle = (HANDLE)_beginthreadex(nullptr, 0, CSerialTask, this,
 						                                        0, &ThreadID);
 						//Sleep(1000);
 						Ok = TRUE;
@@ -290,7 +310,7 @@ DWORD CPSerial::Close()
 		CloseHandle(Port);
 		if (WaitForSingleObject(m_ThreadHandle, (5 * LONG_TIMEOUT)) != WAIT_OBJECT_0)
 			TRACE(TEXT("ERR:Serial port thread failed to terminate\n"));
-    m_ThreadHandle = NULL;
+		m_ThreadHandle = nullptr;
 		CloseHandle(m_ReceiveOLap.hEvent);
 		CloseHandle(m_TransmitOLap.hEvent);
 	}
@@ -334,9 +354,9 @@ DWORD CPSerial::Close()
 DWORD CPSerial::Send(LPCSTR buffer, int l, BOOL /*needsResponse=FALSE*/)
 {
 	m_IsWrtingData = TRUE;
-
-  return ( WritePort ((const char*) buffer, (DWORD) l));
+	return (WritePort(buffer, static_cast<DWORD>(l)));
 }
+
 /*
 DWORD CPSerial::Send(CString buffer)
 {
@@ -400,12 +420,11 @@ DWORD CPSerial::WritePort(const char *Buffer,DWORD Bytes)
 				else
 				{
 					// Gone wrong so clear any erros
-          ClearCommError( m_PortHandle, &Error, NULL );
+					ClearCommError(m_PortHandle, &Error, nullptr);
 					BytesWritten = 0;
 				}
 			}
 			TotalWritten += BytesWritten;
-	 
 		}
 		while (Retrys <= m_MaxTXRetries && TotalWritten < Bytes);
 
@@ -436,7 +455,7 @@ int CPSerial::ReadBlock(BYTE *abIn, int MaxLength)
 		PurgeComm(m_PortHandle, PURGE_RXABORT | PURGE_RXCLEAR);
 		return 0;
 	}
-	dwLength = ((DWORD)MaxLength<ComStat.cbInQue ? MaxLength : ComStat.cbInQue);
+	dwLength = (static_cast<DWORD>(MaxLength) < ComStat.cbInQue ? MaxLength : ComStat.cbInQue);
 	memset(abIn, 0, MaxLength);
 	//Èç¹ûÓÐ×Ö·û¼´¶ÁÈë
 	if (dwLength)
@@ -532,7 +551,6 @@ void CPSerial::ReceiveTask( void )
 		// Go round while the port is open
 	}
 	while (IsOpen());
-
 }
 
 /////////////////////////////////////////////////////////////////////////////
@@ -617,7 +635,7 @@ DWORD CPSerial::ReadPort(char *Buffer,DWORD Bytes)
 			else
 			{
 				// Gone wrong so clear any erros
-        ClearCommError( m_PortHandle, &Error, NULL );
+				ClearCommError(m_PortHandle, &Error, nullptr);
 				BytesRead = 0;
 			}
 		}
@@ -635,7 +653,6 @@ DWORD CPSerial::ReadPort(char *Buffer,DWORD Bytes)
 }
 
 
-
 /////////////////////////////////////////////////////////////////////////////
 // ReadPort() : Read the specifed number of bytes into a CString class.
 //
@@ -674,7 +691,7 @@ int CPSerial::ProgramPort(int Port,int Baud,char Parity,int Bits,int StopBits,in
 	Param.Format(TEXT(" stop=%d"), StopBits);
 	Params += Param;
 	Ok = FALSE;
-	memset( (void *)&SerialDCB, 0, sizeof(SerialDCB) );
+	memset(&SerialDCB, 0, sizeof(SerialDCB));
 	SerialDCB.DCBlength = sizeof(SerialDCB);
 
 	// Place them in the DCB structure, this also validates them if the
@@ -749,8 +766,8 @@ int CPSerial::ProgramPort(int Port,int Baud,char Parity,int Bits,int StopBits,in
 			{
 				GetCommState(m_PortHandle, &SerialDCB);
 				SerialDCB.BaudRate = Baud; // set the baud rate
-				SerialDCB.ByteSize = (BYTE)Bits;        // data size, xmit, and rcv
-				SerialDCB.StopBits = (BYTE)StopBits;    // one stop bit
+				SerialDCB.ByteSize = static_cast<BYTE>(Bits); // data size, xmit, and rcv
+				SerialDCB.StopBits = static_cast<BYTE>(StopBits); // one stop bit
 				switch (Parity)
 				{
 				case 'O':
@@ -764,7 +781,6 @@ int CPSerial::ProgramPort(int Port,int Baud,char Parity,int Bits,int StopBits,in
 				default:
 					SerialDCB.Parity = NOPARITY; // no parity bit
 					break;
-
 				}
 				// Set the handshake bits
 				switch (HandShake)
@@ -1275,7 +1291,6 @@ AfxRegisterClass( &wndcls );
 */
 
 
-
 #if 0
 /////////////////////////////////////////////////////////////////////////////
 // SendBuffer() : Internal function, this writes the next block of data

HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.H

@@ -59,7 +59,6 @@ const int CS_HANDSHAKE_FOR_SO7       =    5;
 const int CS_HANDSHAKE_FOR_TRESASTR_E = 6;
 
 
-
 ///////////////////////////////////////////////////////////////////////////////
 // Debug constants
 const int CS_DEBUG_SIZE = 1024;
@@ -80,15 +79,14 @@ public:
 
 	// Implementation
 public:
-  virtual ~CPSerial();
+	~CPSerial() override;
 
 	// Attributes
 public:
-
 	// Operations
 public:
 	// Open the serial port ( if possible ) using the parameters set by SetPort()
-  DWORD Open();
+	DWORD Open() override;
 	// Setup the serial port prior to opening it
 	int SetPort(int Port, int Baud = 0, char Parity = 0, int Bits = 0,
 	            int StopBits = 0, int HandShake = 0);
@@ -99,12 +97,14 @@ public:
 	void GetPortData(int* Port, int* Baud, char* Parity, int* Bits,
 	                 int* StopBits, int* HandShake);
 	// Test if the serial port is open
-  bool IsValid() {
+	bool IsValid() override
+	{
 		return IsOpen() != 0;
 	}
+
 	int IsOpen(void);
 	// Close the serial port
-  DWORD Close( void );
+	DWORD Close(void) override;
 	// Flush all data in any serial port buffers
 	int FlushPort(void);
 	// Attempt to read the specified number of bytes
@@ -128,7 +128,7 @@ public:
 	// Convert ascii hex into an int
 	int HexToInt(char* Data, int Bytes);
 
-  virtual DWORD Send(LPCSTR buffer, int l, BOOL needsResponse=FALSE);
+	DWORD Send(LPCSTR buffer, int l, BOOL needsResponse = FALSE) override;
 	//virtual DWORD Send(CString what);
 
 	// Called when data is received on the serial port

HSI_HexagonMI_EF3/WAI64bit/WAI64Bit.sln

@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.28307.2092
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "WAI64Bit", "WAI64Bit.vcxproj", "{6936CAC7-384F-4EDC-BF1E-D549E2A37465}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x64.ActiveCfg = Debug|x64
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x64.Build.0 = Debug|x64
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x86.ActiveCfg = Debug|Win32
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Debug|x86.Build.0 = Debug|Win32
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x64.ActiveCfg = Release|x64
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x64.Build.0 = Release|x64
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x86.ActiveCfg = Release|Win32
+		{6936CAC7-384F-4EDC-BF1E-D549E2A37465}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {4ABC1E18-7BBA-419C-A745-5EBAF5089457}
+	EndGlobalSection
+EndGlobal

HSI_HexagonMI_EF3/logger.cpp

@@ -19,6 +19,7 @@ void CLogger::SendAtTime(const TCHAR* buffer)
 	}
 	LeaveCriticalSection(&m_lockLogger);
 }
+
 void CLogger::Send(LPCTSTR format, ...)
 {
 	EnterCriticalSection(&m_lockLogger);
@@ -36,6 +37,7 @@ void CLogger::Send(LPCTSTR format, ...)
 	}
 	LeaveCriticalSection(&m_lockLogger);
 }
+
 void CLogger::SendAndFlush(LPCTSTR format, ...)
 {
 	EnterCriticalSection(&m_lockLogger);
@@ -49,12 +51,13 @@ void CLogger::SendAndFlush(LPCTSTR format, ...)
 	if (m_File)
 	{
 		fclose(m_File);
-    m_File = NULL;
+		m_File = nullptr;
 		if (m_FileName.GetLength() > 0)
 			m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
 	}
 	LeaveCriticalSection(&m_lockLogger);
 }
+
 void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
 {
 	EnterCriticalSection(&m_lockLogger);
@@ -87,11 +90,12 @@ void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
 		if (m_File)
 		{
 			fclose(m_File);
-      m_File = NULL;
+			m_File = nullptr;
 		}
 	}
 	LeaveCriticalSection(&m_lockLogger);
 }
+
 void CLogger::SendAndFlushPerMode(LPCTSTR format, ...)
 {
 	EnterCriticalSection(&m_lockLogger);
@@ -105,7 +109,7 @@ void CLogger::SendAndFlushPerMode(LPCTSTR format, ...)
 	if ((m_lLogMask & LOGFLUSH) && m_File)
 	{
 		fclose(m_File);
-    m_File = NULL;
+		m_File = nullptr;
 		if (m_FileName.GetLength() > 0)
 			m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
 	}

HSI_HexagonMI_EF3/logger.h

@@ -17,15 +17,15 @@ const long LOGFLUSH   = 0x0008;
 class CLogger
 {
 public:
-
 	CLogger(CString m_Name)
 	{
 		IsEnabledLog = false;
-    m_File = NULL;
+		m_File = nullptr;
 		CString Path = _T(""); // Speed optimization - noticed slow in GlowCode
-    if (Path.IsEmpty()) {
+		if (Path.IsEmpty())
+		{
 			CString tmpPath;
-      GetModuleFileName(NULL,tmpPath.GetBuffer(255),255);
+			GetModuleFileName(nullptr, tmpPath.GetBuffer(255), 255);
 			tmpPath.ReleaseBuffer();
 			tmpPath.TrimRight();
 			int nLastSlash = tmpPath.ReverseFind('\\');
@@ -39,6 +39,7 @@ public:
 		m_lLogMask = 0;
 		InitializeCriticalSection(&m_lockLogger);
 	};
+
 	~CLogger()
 	{
 		if (m_File)

HSI_HexagonMI_EF3/obj/HSI_Hexa.ECCF081D.tlog/HSI_HexagonMI_EF3.lastbuildstate

@@ -0,0 +1,2 @@
+#TargetFrameworkVersion=:PlatformToolSet=v141:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native64Bit:WindowsTargetPlatformVersion=10.0.19041.0
+Debug|x64|E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\|

HSI_HexagonMI_EF3/version.h

@@ -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          "2022.10.10 / 11:34 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.10.10 / 11:34 ")  
+#define HSI_FILE_DESCRIPTION          "2022.10.12 /  9:29 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2022.10.12 /  9:29 ")  

HSI_HexagonMI_EF3/x64/Debug/HSI_Hexa.ECCF081D.tlog/HSI_HexagonMI_EF3.lastbuildstate

@@ -1,2 +0,0 @@
-#TargetFrameworkVersion=v4.0:PlatformToolSet=v141:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit:WindowsTargetPlatformVersion=10.0.19041.0
-Debug|x64|E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\|

HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs

@@ -32,7 +32,7 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
     public static extern Def.HSI_STATUS Shutdown();
 
     // <<<< Out Interfacess
-
+    //事件回调函数
     public static void EventCallback(Def.HSI_EVENT_TYPE eventType, Def.HSI_EVENT_RESPONSE_TYPE responseType,
       uint eventId, string eventData, ref uint eventCallbackId)
     {

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/DMC2410_Motion.ini

@@ -0,0 +1,86 @@
+[JOG_SPEED]
+JOG_SPEED_0=200.0
+JOG_STARTV_0=5.0
+JOG_ACC_TIME_0=0.2
+JOG_DEC_TIME_0=0.2
+JOG_SPEED_1=150.0
+JOG_STARTV_1=5.0
+JOG_ACC_TIME_1=0.2
+JOG_DEC_TIME_1=0.2
+JOG_SPEED_2=100.0
+JOG_STARTV_2=5.0
+JOG_ACC_TIME_2=0.2
+JOG_DEC_TIME_2=0.2
+JOG_SPEED_3=10.0
+JOG_STARTV_3=5.0
+JOG_ACC_TIME_3=0.2
+JOG_DEC_TIME_3=0.2
+JOG_SPEED_4=1.0
+JOG_STARTV_4=5.0
+JOG_ACC_TIME_4=0.2
+JOG_DEC_TIME_4=0.2
+[RESOLUTION]
+SCALE_RESOLUTION_1=0.0004
+SCALE_RESOLUTION_2=0.0004
+SCALE_RESOLUTION_3=0.0004
+SCALE_RESOLUTION_4=0.0004
+[LIMIT]
+NEG_WORKING_LIMIT_1=-260.0
+POS_WORKING_LIMIT_1=40.0
+NEG_WORKING_LIMIT_2=-40.0
+POS_WORKING_LIMIT_2=160.0
+NEG_WORKING_LIMIT_3=-40.0
+POS_WORKING_LIMIT_3=160.0
+NEG_WORKING_LIMIT_4=-40.0
+POS_WORKING_LIMIT_4=200.0
+[HOME]
+HOME_HIGH_SPEED_1=200.0
+HOME_HIGH_ACC_TIME_1=0.2
+HOME_LOW_SPEED_1=180.0
+HOME_LOW_ACC_TIME_1=0.2
+HOME_TIME_1=1000
+HOME_MACHINE_AXIS_1=1
+HOME_HIGH_SPEED_2=200.0
+HOME_HIGH_ACC_TIME_2=0.2
+HOME_LOW_SPEED_2=180.0
+HOME_LOW_ACC_TIME_2=0.2
+HOME_TIME_2=1000
+HOME_MACHINE_AXIS_2=1
+HOME_HIGH_SPEED_3=200.0
+HOME_HIGH_ACC_TIME_3=0.2
+HOME_LOW_SPEED_3=180.0
+HOME_LOW_ACC_TIME_3=0.2
+HOME_TIME_3=1000
+HOME_MACHINE_AXIS_3=1
+HOME_HIGH_SPEED_4=200.0
+HOME_HIGH_ACC_TIME_4=0.2
+HOME_LOW_SPEED_4=180.0
+HOME_LOW_ACC_TIME_4=0.2
+HOME_TIME_4=1000
+HOME_MACHINE_AXIS_4=0
+[PRECISION]
+PRECISION_COUNT_1=8
+PRECISION_TIME_1=20000
+PRECISION_COUNT_2=8
+PRECISION_TIME_2=20000
+PRECISION_COUNT_3=8
+PRECISION_TIME_3=20000
+PRECISION_COUNT_4=8
+PRECISION_TIME_4=20000
+[SET_POSITION_SPEED]
+SET_POTION_SPEED_1=500.0
+SET_POTION_ACC_TIME_1=0.2
+SET_POTION_DEC_TIME_1=0.2
+SET_POSITION_COUNT_1=240
+SET_POTION_SPEED_2=500.0
+SET_POTION_ACC_TIME_2=0.2
+SET_POTION_DEC_TIME_2=0.2
+SET_POSITION_COUNT_2=240
+SET_POTION_SPEED_3=500.0
+SET_POTION_ACC_TIME_3=0.2
+SET_POTION_DEC_TIME_3=0.2
+SET_POSITION_COUNT_3=240
+SET_POTION_SPEED_4=500.0
+SET_POTION_ACC_TIME_4=0.2
+SET_POTION_DEC_TIME_4=0.2
+SET_POSITION_COUNT_4=240

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF1_Motion.ini

@@ -0,0 +1,337 @@
+[JOG_SPEED]
+JOG速度(pulse/ms)
+JOG_SPEED_0=200.0
+JOG_SPEED_1=150.0
+JOG_SPEED_2=50
+JOG_SPEED_3=10
+JOG_SPEED_4=1
+
+;JOG加速度(pulse/ms^2)
+JOG_ACC_0=2.0
+JOG_ACC_1=2.0
+JOG_ACC_2=2.0
+JOG_ACC_3=1.0
+JOG_ACC_4=1.0
+
+;JOG减速度(pulse/ms^2)
+JOG_DEC_0=2.0
+JOG_DEC_1=2.0
+JOG_DEC_2=2.0
+JOG_DEC_3=1.0
+JOG_DEC_4=1.0
+
+;JOG模式采用急停还是平滑停止,0是平滑停止1为急停，默认0
+JOG_STOP_MODE_1=0
+JOG_STOP_MODE_2=0
+JOG_STOP_MODE_3=0
+JOG_STOP_MODE_4=0
+JOG_STOP_MODE_5=0
+JOG_STOP_MODE_6=0
+JOG_STOP_MODE_7=0
+JOG_STOP_MODE_8=0
+JOG_STOP_MODE=0
+JOG_SPEED_GEAR0_1=200.0
+JOG_ACC_GEAR0_1=2.0
+JOG_DEC_GEAR0_1=2.0
+JOG_SPEED_GEAR0_2=200.0
+JOG_ACC_GEAR0_2=2.0
+JOG_DEC_GEAR0_2=2.0
+JOG_SPEED_GEAR0_3=150.0
+JOG_ACC_GEAR0_3=2.0
+JOG_DEC_GEAR0_3=2.0
+JOG_SPEED_GEAR0_4=200.0
+JOG_ACC_GEAR0_4=2.0
+JOG_DEC_GEAR0_4=2.0
+JOG_SPEED_GEAR1_1=100.0
+JOG_ACC_GEAR1_1=2.0
+JOG_DEC_GEAR1_1=2.0
+JOG_SPEED_GEAR1_2=100.0
+JOG_ACC_GEAR1_2=2.0
+JOG_DEC_GEAR1_2=2.0
+JOG_SPEED_GEAR1_3=80.0
+JOG_ACC_GEAR1_3=2.0
+JOG_DEC_GEAR1_3=2.0
+JOG_SPEED_GEAR1_4=100.0
+JOG_ACC_GEAR1_4=2.0
+JOG_DEC_GEAR1_4=2.0
+JOG_SPEED_GEAR2_1=50.0
+JOG_ACC_GEAR2_1=2.0
+JOG_DEC_GEAR2_1=2.0
+JOG_SPEED_GEAR2_2=50.0
+JOG_ACC_GEAR2_2=2.0
+JOG_DEC_GEAR2_2=2.0
+JOG_SPEED_GEAR2_3=50.0
+JOG_ACC_GEAR2_3=2.0
+JOG_DEC_GEAR2_3=2.0
+JOG_SPEED_GEAR2_4=50.0
+JOG_ACC_GEAR2_4=2.0
+JOG_DEC_GEAR2_4=2.0
+JOG_SPEED_GEAR3_1=10.0
+JOG_ACC_GEAR3_1=1.0
+JOG_DEC_GEAR3_1=1.0
+JOG_SPEED_GEAR3_2=10.0
+JOG_ACC_GEAR3_2=1.0
+JOG_DEC_GEAR3_2=1.0
+JOG_SPEED_GEAR3_3=10.0
+JOG_ACC_GEAR3_3=1.0
+JOG_DEC_GEAR3_3=1.0
+JOG_SPEED_GEAR3_4=10.0
+JOG_ACC_GEAR3_4=1.0
+JOG_DEC_GEAR3_4=1.0
+JOG_SPEED_GEAR4_1=1.0
+JOG_ACC_GEAR4_1=1.0
+JOG_DEC_GEAR4_1=1.0
+JOG_SPEED_GEAR4_2=1.0
+JOG_ACC_GEAR4_2=1.0
+JOG_DEC_GEAR4_2=1.0
+JOG_SPEED_GEAR4_3=1.0
+JOG_ACC_GEAR4_3=1.0
+JOG_DEC_GEAR4_3=1.0
+JOG_SPEED_GEAR4_4=1.0
+JOG_ACC_GEAR4_4=1.0
+JOG_DEC_GEAR4_4=1.0
+
+;0:都使用(正常情况)   1:只使用灯，而不使用控制器;默认0
+[USE_LIGHT]
+ONLY_USE_LIGHT=0
+
+[RESOLUTION]
+;光栅尺的分辨率(mm)
+SCALE_RESOLUTION_1=0.0004
+SCALE_RESOLUTION_2=0.0004
+SCALE_RESOLUTION_3=0.0004
+SCALE_RESOLUTION_4=0.0004
+SCALE_RESOLUTION_5=0.0004
+SCALE_RESOLUTION_6=0.0004
+SCALE_RESOLUTION_7=0.0004
+SCALE_RESOLUTION_8=0.0004
+
+[LIMIT]
+;负限位(mm)，必须是负数
+NEG_WORKING_LIMIT_1=-260.0
+NEG_WORKING_LIMIT_2=-40.0
+NEG_WORKING_LIMIT_3=-40.0
+NEG_WORKING_LIMIT_4=-40.0
+NEG_WORKING_LIMIT_5=-40.0
+NEG_WORKING_LIMIT_6=-40.0
+NEG_WORKING_LIMIT_7=-40.0
+NEG_WORKING_LIMIT_8=-40.0
+
+;正限位(mm)，必须是正数
+POS_WORKING_LIMIT_1=40.0
+POS_WORKING_LIMIT_2=160.0
+POS_WORKING_LIMIT_3=160.0
+POS_WORKING_LIMIT_4=200.0
+POS_WORKING_LIMIT_5=200.0
+POS_WORKING_LIMIT_6=200.0
+POS_WORKING_LIMIT_7=200.0
+POS_WORKING_LIMIT_8=200.0
+
+[HOME]
+;选择需要回家的轴号，改为1
+HOME_MACHINE_AXIS_1=1
+HOME_MACHINE_AXIS_2=1
+HOME_MACHINE_AXIS_3=1
+HOME_MACHINE_AXIS_4=0
+HOME_MACHINE_AXIS_5=0
+HOME_MACHINE_AXIS_6=0
+HOME_MACHINE_AXIS_7=0
+HOME_MACHINE_AXIS_8=0
+
+;是否启动实际位置判断是否回家，默认0，1启用，0关闭
+IS_HOME_ENC_POS=0
+;是否启动规划位置判断是否回家，默认1，1启用，0关闭
+IS_HOME_PRF_POS=1
+
+;关闭电源时记住当前的位置，用于判断是否需要回家
+HOME_POS_AXIS_1=0
+HOME_POS_AXIS_2=0
+HOME_POS_AXIS_3=0
+HOME_POS_AXIS_4=0
+HOME_POS_AXIS_5=0
+HOME_POS_AXIS_6=0
+HOME_POS_AXIS_7=0
+HOME_POS_AXIS_8=0
+
+;回家第一段速度(pulse/ms)
+HOME_HIGH_SPEED_1=200.0
+HOME_HIGH_SPEED_2=200.0
+HOME_HIGH_SPEED_3=200.0
+HOME_HIGH_SPEED_4=200.0
+HOME_HIGH_SPEED_5=200.0
+HOME_HIGH_SPEED_6=200.0
+HOME_HIGH_SPEED_7=200.0
+HOME_HIGH_SPEED_8=200.0
+
+;回家第一段加速度(pulse/ms^2)
+HOME_HIGH_ACC_1=2.0
+HOME_HIGH_ACC_2=2.0
+HOME_HIGH_ACC_3=2.0
+HOME_HIGH_ACC_4=2.0
+HOME_HIGH_ACC_5=2.0
+HOME_HIGH_ACC_6=2.0
+HOME_HIGH_ACC_7=2.0
+HOME_HIGH_ACC_8=2.0
+
+;回家第二段速度(pulse/ms)
+HOME_LOW_SPEED_1=180.0
+HOME_LOW_SPEED_2=180.0
+HOME_LOW_SPEED_3=180.0
+HOME_LOW_SPEED_4=180.0
+HOME_LOW_SPEED_5=180.0
+HOME_LOW_SPEED_6=180.0
+HOME_LOW_SPEED_7=180.0
+HOME_LOW_SPEED_8=180.0
+
+;回家第二段加速度(pulse/ms^2)
+HOME_LOW_ACC_1=2.0
+HOME_LOW_ACC_2=2.0
+HOME_LOW_ACC_3=2.0
+HOME_LOW_ACC_4=2.0
+HOME_LOW_ACC_5=2.0
+HOME_LOW_ACC_6=2.0
+HOME_LOW_ACC_7=2.0
+HOME_LOW_ACC_8=2.0
+
+;回家延时时间(ms)
+HOME_TIME_1=1000
+HOME_TIME_2=1000
+HOME_TIME_3=1000
+HOME_TIME_4=1000
+HOME_TIME_5=1000
+HOME_TIME_6=1000
+HOME_TIME_7=1000
+HOME_TIME_8=1000
+
+[PID]
+;PID比例调节,应从0.01递增开始调试
+PID_KP_1=1.20
+PID_KP_2=1.20
+PID_KP_3=1.20
+PID_KP_4=1.20
+PID_KP_5=1.20
+PID_KP_6=1.20
+PID_KP_7=1.20
+PID_KP_8=1.20
+
+[PRECISION]
+;超时时间(0.1ms)
+PRECISION_TIME_1=20000
+PRECISION_TIME_2=20000
+PRECISION_TIME_3=20000
+PRECISION_TIME_4=20000
+PRECISION_TIME_5=20000
+PRECISION_TIME_6=20000
+PRECISION_TIME_7=20000
+PRECISION_TIME_8=20000
+
+;回家误差脉冲个数
+PRECISION_COUNT_1=8
+PRECISION_COUNT_2=8
+PRECISION_COUNT_3=8
+PRECISION_COUNT_4=8
+PRECISION_COUNT_5=8
+PRECISION_COUNT_6=8
+PRECISION_COUNT_7=8
+PRECISION_COUNT_8=8
+
+[SET_POSITION_SPEED]
+;XYZ定位的合成速度(pulse/ms)
+SET_POTION_SPEED_1=500.0
+SET_POTION_SPEED_2=500.0
+SET_POTION_SPEED_3=500.0
+SET_POTION_SPEED_4=500.0
+SET_POTION_SPEED_5=500.0
+SET_POTION_SPEED_6=500.0
+SET_POTION_SPEED_7=500.0
+SET_POTION_SPEED_8=500.0
+
+;XYZ定位的合成加速度(pulse/ms^2)
+SET_POTION_ACC_1=2.5
+SET_POTION_ACC_2=2.5
+SET_POTION_ACC_3=2.5
+SET_POTION_ACC_4=2.5
+SET_POTION_ACC_5=2.5
+SET_POTION_ACC_6=2.5
+SET_POTION_ACC_7=2.5
+SET_POTION_ACC_8=2.5
+
+;XYZ定位的终点速度(pulse/ms)
+SET_POTION_DEC_1=1.0
+SET_POTION_DEC_2=1.0
+SET_POTION_DEC_3=1.0
+SET_POTION_DEC_4=1.0
+SET_POTION_DEC_5=1.0
+SET_POTION_DEC_6=1.0
+SET_POTION_DEC_7=1.0
+SET_POTION_DEC_8=1.0
+
+;XYZ定到位判断次数
+SET_POSITION_COUNT_1=240
+SET_POSITION_COUNT_2=240
+SET_POSITION_COUNT_3=240
+SET_POSITION_COUNT_4=240
+SET_POSITION_COUNT_5=240
+SET_POSITION_COUNT_6=240
+SET_POSITION_COUNT_7=240
+SET_POSITION_COUNT_8=240
+
+[COMPORT]
+;灯光控制器类型选择
+;0:启用c++调用灯光,不使用STM32 USB控制时，需要把下面的IS_STM32_USB改为0
+;1:wpf直接调用;
+;2:DP光源控制器;
+;3:旧的6环8区为3(环形可调);
+;4:新的6环8区为4(扇区可调);
+;5:STM32控制器,IP地址在exe目录下的CameraNum.ini中修改
+;61:OPT光源控制器网络模式(111ms),IP地址在exe目录下的CameraNum.ini中修改，串口模式62(44ms);
+COM_PORT_CPP_WPF=0
+
+;使用stm32时，是否使用USB通讯，使用该功能时，COM_PORT_CPP_WPF必须等于0
+IS_STM32_USB=0
+
+;是否打开第一个串，1为打开，0为关闭，默认0
+IS_COM_PORT_A=0
+COM_PORT_A=2
+COM_PORT_A_LED_1=1
+COM_PORT_A_LED_2=1
+COM_PORT_A_LED_3=1
+COM_PORT_A_LED_4=1
+
+;是否打开第二个串，1为打开，0为关闭，默认0
+IS_COM_PORT_B=0
+COM_PORT_B=6
+COM_PORT_B_LED_1=1
+COM_PORT_B_LED_2=1
+COM_PORT_B_LED_3=1
+COM_PORT_B_LED_4=1
+
+[TRRIGER]
+;线性点触发的脉冲宽度
+LINEAR_PULSE_WIDTH=500
+
+;等间距触发的脉冲宽度
+INTERVAL_PULSE_WIDTH=500
+
+;手动触发
+HOLD_TIME=150
+
+[LOG]
+;是否打开记录，默认0为关闭，1位打开,;LOG_IS_OPEN_0为是否打开记录功能
+LOG_IS_OPEN_0=1
+LOG_IS_OPEN_1=1
+LOG_IS_OPEN_2=1
+LOG_IS_OPEN_3=1
+LOG_IS_OPEN_4=0
+LOG_IS_OPEN_5=0
+LOG_IS_OPEN_6=0
+LOG_IS_OPEN_7=0
+LOG_IS_OPEN_8=0
+;是否启用统计定位函数的时间日志，1：启用，默认0关闭
+LOG2_IS_OPEN=0
+;定位几次后，计算这几次总共用时mm，默认4次
+LOG_SUM_COUNT=0
+
+
+
+

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini

@@ -0,0 +1,337 @@
+[JOG_SPEED]
+JOG速度(pulse/ms)
+JOG_SPEED_0=200.0
+JOG_SPEED_1=150.0
+JOG_SPEED_2=50
+JOG_SPEED_3=10
+JOG_SPEED_4=1
+
+;JOG加速度(pulse/ms^2)
+JOG_ACC_0=2.0
+JOG_ACC_1=2.0
+JOG_ACC_2=2.0
+JOG_ACC_3=1.0
+JOG_ACC_4=1.0
+
+;JOG减速度(pulse/ms^2)
+JOG_DEC_0=2.0
+JOG_DEC_1=2.0
+JOG_DEC_2=2.0
+JOG_DEC_3=1.0
+JOG_DEC_4=1.0
+
+;JOG模式采用急停还是平滑停止,0是平滑停止1为急停，默认0
+JOG_STOP_MODE_1=0
+JOG_STOP_MODE_2=0
+JOG_STOP_MODE_3=0
+JOG_STOP_MODE_4=0
+JOG_STOP_MODE_5=0
+JOG_STOP_MODE_6=0
+JOG_STOP_MODE_7=0
+JOG_STOP_MODE_8=0
+JOG_STOP_MODE=0
+JOG_SPEED_GEAR0_1=200.0
+JOG_ACC_GEAR0_1=2.0
+JOG_DEC_GEAR0_1=2.0
+JOG_SPEED_GEAR0_2=200.0
+JOG_ACC_GEAR0_2=2.0
+JOG_DEC_GEAR0_2=2.0
+JOG_SPEED_GEAR0_3=150.0
+JOG_ACC_GEAR0_3=2.0
+JOG_DEC_GEAR0_3=2.0
+JOG_SPEED_GEAR0_4=200.0
+JOG_ACC_GEAR0_4=2.0
+JOG_DEC_GEAR0_4=2.0
+JOG_SPEED_GEAR1_1=100.0
+JOG_ACC_GEAR1_1=2.0
+JOG_DEC_GEAR1_1=2.0
+JOG_SPEED_GEAR1_2=100.0
+JOG_ACC_GEAR1_2=2.0
+JOG_DEC_GEAR1_2=2.0
+JOG_SPEED_GEAR1_3=80.0
+JOG_ACC_GEAR1_3=2.0
+JOG_DEC_GEAR1_3=2.0
+JOG_SPEED_GEAR1_4=100.0
+JOG_ACC_GEAR1_4=2.0
+JOG_DEC_GEAR1_4=2.0
+JOG_SPEED_GEAR2_1=50.0
+JOG_ACC_GEAR2_1=2.0
+JOG_DEC_GEAR2_1=2.0
+JOG_SPEED_GEAR2_2=50.0
+JOG_ACC_GEAR2_2=2.0
+JOG_DEC_GEAR2_2=2.0
+JOG_SPEED_GEAR2_3=50.0
+JOG_ACC_GEAR2_3=2.0
+JOG_DEC_GEAR2_3=2.0
+JOG_SPEED_GEAR2_4=50.0
+JOG_ACC_GEAR2_4=2.0
+JOG_DEC_GEAR2_4=2.0
+JOG_SPEED_GEAR3_1=10.0
+JOG_ACC_GEAR3_1=1.0
+JOG_DEC_GEAR3_1=1.0
+JOG_SPEED_GEAR3_2=10.0
+JOG_ACC_GEAR3_2=1.0
+JOG_DEC_GEAR3_2=1.0
+JOG_SPEED_GEAR3_3=10.0
+JOG_ACC_GEAR3_3=1.0
+JOG_DEC_GEAR3_3=1.0
+JOG_SPEED_GEAR3_4=10.0
+JOG_ACC_GEAR3_4=1.0
+JOG_DEC_GEAR3_4=1.0
+JOG_SPEED_GEAR4_1=1.0
+JOG_ACC_GEAR4_1=1.0
+JOG_DEC_GEAR4_1=1.0
+JOG_SPEED_GEAR4_2=1.0
+JOG_ACC_GEAR4_2=1.0
+JOG_DEC_GEAR4_2=1.0
+JOG_SPEED_GEAR4_3=1.0
+JOG_ACC_GEAR4_3=1.0
+JOG_DEC_GEAR4_3=1.0
+JOG_SPEED_GEAR4_4=1.0
+JOG_ACC_GEAR4_4=1.0
+JOG_DEC_GEAR4_4=1.0
+
+;0:都使用(正常情况)   1:只使用灯，而不使用控制器;默认0
+[USE_LIGHT]
+ONLY_USE_LIGHT=0
+
+[RESOLUTION]
+;光栅尺的分辨率(mm)
+SCALE_RESOLUTION_1=0.0004
+SCALE_RESOLUTION_2=0.0004
+SCALE_RESOLUTION_3=0.0004
+SCALE_RESOLUTION_4=0.0004
+SCALE_RESOLUTION_5=0.0004
+SCALE_RESOLUTION_6=0.0004
+SCALE_RESOLUTION_7=0.0004
+SCALE_RESOLUTION_8=0.0004
+
+[LIMIT]
+;负限位(mm)，必须是负数
+NEG_WORKING_LIMIT_1=-260.0
+NEG_WORKING_LIMIT_2=-40.0
+NEG_WORKING_LIMIT_3=-40.0
+NEG_WORKING_LIMIT_4=-40.0
+NEG_WORKING_LIMIT_5=-40.0
+NEG_WORKING_LIMIT_6=-40.0
+NEG_WORKING_LIMIT_7=-40.0
+NEG_WORKING_LIMIT_8=-40.0
+
+;正限位(mm)，必须是正数
+POS_WORKING_LIMIT_1=40.0
+POS_WORKING_LIMIT_2=160.0
+POS_WORKING_LIMIT_3=160.0
+POS_WORKING_LIMIT_4=200.0
+POS_WORKING_LIMIT_5=200.0
+POS_WORKING_LIMIT_6=200.0
+POS_WORKING_LIMIT_7=200.0
+POS_WORKING_LIMIT_8=200.0
+
+[HOME]
+;选择需要回家的轴号，改为1
+HOME_MACHINE_AXIS_1=1
+HOME_MACHINE_AXIS_2=1
+HOME_MACHINE_AXIS_3=1
+HOME_MACHINE_AXIS_4=0
+HOME_MACHINE_AXIS_5=0
+HOME_MACHINE_AXIS_6=0
+HOME_MACHINE_AXIS_7=0
+HOME_MACHINE_AXIS_8=0
+
+;是否启动实际位置判断是否回家，默认0，1启用，0关闭
+IS_HOME_ENC_POS=0
+;是否启动规划位置判断是否回家，默认1，1启用，0关闭
+IS_HOME_PRF_POS=1
+
+;关闭电源时记住当前的位置，用于判断是否需要回家
+HOME_POS_AXIS_1=0
+HOME_POS_AXIS_2=0
+HOME_POS_AXIS_3=0
+HOME_POS_AXIS_4=0
+HOME_POS_AXIS_5=0
+HOME_POS_AXIS_6=0
+HOME_POS_AXIS_7=0
+HOME_POS_AXIS_8=0
+
+;回家第一段速度(pulse/ms)
+HOME_HIGH_SPEED_1=200.0
+HOME_HIGH_SPEED_2=200.0
+HOME_HIGH_SPEED_3=200.0
+HOME_HIGH_SPEED_4=200.0
+HOME_HIGH_SPEED_5=200.0
+HOME_HIGH_SPEED_6=200.0
+HOME_HIGH_SPEED_7=200.0
+HOME_HIGH_SPEED_8=200.0
+
+;回家第一段加速度(pulse/ms^2)
+HOME_HIGH_ACC_1=2.0
+HOME_HIGH_ACC_2=2.0
+HOME_HIGH_ACC_3=2.0
+HOME_HIGH_ACC_4=2.0
+HOME_HIGH_ACC_5=2.0
+HOME_HIGH_ACC_6=2.0
+HOME_HIGH_ACC_7=2.0
+HOME_HIGH_ACC_8=2.0
+
+;回家第二段速度(pulse/ms)
+HOME_LOW_SPEED_1=180.0
+HOME_LOW_SPEED_2=180.0
+HOME_LOW_SPEED_3=180.0
+HOME_LOW_SPEED_4=180.0
+HOME_LOW_SPEED_5=180.0
+HOME_LOW_SPEED_6=180.0
+HOME_LOW_SPEED_7=180.0
+HOME_LOW_SPEED_8=180.0
+
+;回家第二段加速度(pulse/ms^2)
+HOME_LOW_ACC_1=2.0
+HOME_LOW_ACC_2=2.0
+HOME_LOW_ACC_3=2.0
+HOME_LOW_ACC_4=2.0
+HOME_LOW_ACC_5=2.0
+HOME_LOW_ACC_6=2.0
+HOME_LOW_ACC_7=2.0
+HOME_LOW_ACC_8=2.0
+
+;回家延时时间(ms)
+HOME_TIME_1=1000
+HOME_TIME_2=1000
+HOME_TIME_3=1000
+HOME_TIME_4=1000
+HOME_TIME_5=1000
+HOME_TIME_6=1000
+HOME_TIME_7=1000
+HOME_TIME_8=1000
+
+[PID]
+;PID比例调节,应从0.01递增开始调试
+PID_KP_1=1.20
+PID_KP_2=1.20
+PID_KP_3=1.20
+PID_KP_4=1.20
+PID_KP_5=1.20
+PID_KP_6=1.20
+PID_KP_7=1.20
+PID_KP_8=1.20
+
+[PRECISION]
+;超时时间(0.1ms)
+PRECISION_TIME_1=20000
+PRECISION_TIME_2=20000
+PRECISION_TIME_3=20000
+PRECISION_TIME_4=20000
+PRECISION_TIME_5=20000
+PRECISION_TIME_6=20000
+PRECISION_TIME_7=20000
+PRECISION_TIME_8=20000
+
+;回家误差脉冲个数
+PRECISION_COUNT_1=8
+PRECISION_COUNT_2=8
+PRECISION_COUNT_3=8
+PRECISION_COUNT_4=8
+PRECISION_COUNT_5=8
+PRECISION_COUNT_6=8
+PRECISION_COUNT_7=8
+PRECISION_COUNT_8=8
+
+[SET_POSITION_SPEED]
+;XYZ定位的合成速度(pulse/ms)
+SET_POTION_SPEED_1=500.0
+SET_POTION_SPEED_2=500.0
+SET_POTION_SPEED_3=500.0
+SET_POTION_SPEED_4=500.0
+SET_POTION_SPEED_5=500.0
+SET_POTION_SPEED_6=500.0
+SET_POTION_SPEED_7=500.0
+SET_POTION_SPEED_8=500.0
+
+;XYZ定位的合成加速度(pulse/ms^2)
+SET_POTION_ACC_1=2.5
+SET_POTION_ACC_2=2.5
+SET_POTION_ACC_3=2.5
+SET_POTION_ACC_4=2.5
+SET_POTION_ACC_5=2.5
+SET_POTION_ACC_6=2.5
+SET_POTION_ACC_7=2.5
+SET_POTION_ACC_8=2.5
+
+;XYZ定位的终点速度(pulse/ms)
+SET_POTION_DEC_1=1.0
+SET_POTION_DEC_2=1.0
+SET_POTION_DEC_3=1.0
+SET_POTION_DEC_4=1.0
+SET_POTION_DEC_5=1.0
+SET_POTION_DEC_6=1.0
+SET_POTION_DEC_7=1.0
+SET_POTION_DEC_8=1.0
+
+;XYZ定到位判断次数
+SET_POSITION_COUNT_1=240
+SET_POSITION_COUNT_2=240
+SET_POSITION_COUNT_3=240
+SET_POSITION_COUNT_4=240
+SET_POSITION_COUNT_5=240
+SET_POSITION_COUNT_6=240
+SET_POSITION_COUNT_7=240
+SET_POSITION_COUNT_8=240
+
+[COMPORT]
+;灯光控制器类型选择
+;0:启用c++调用灯光,不使用STM32 USB控制时，需要把下面的IS_STM32_USB改为0
+;1:wpf直接调用;
+;2:DP光源控制器;
+;3:旧的6环8区为3(环形可调);
+;4:新的6环8区为4(扇区可调);
+;5:STM32控制器,IP地址在exe目录下的CameraNum.ini中修改
+;61:OPT光源控制器网络模式(111ms),IP地址在exe目录下的CameraNum.ini中修改，串口模式62(44ms);
+COM_PORT_CPP_WPF=0
+
+;使用stm32时，是否使用USB通讯，使用该功能时，COM_PORT_CPP_WPF必须等于0
+IS_STM32_USB=0
+
+;是否打开第一个串，1为打开，0为关闭，默认0
+IS_COM_PORT_A=0
+COM_PORT_A=2
+COM_PORT_A_LED_1=1
+COM_PORT_A_LED_2=1
+COM_PORT_A_LED_3=1
+COM_PORT_A_LED_4=1
+
+;是否打开第二个串，1为打开，0为关闭，默认0
+IS_COM_PORT_B=0
+COM_PORT_B=6
+COM_PORT_B_LED_1=1
+COM_PORT_B_LED_2=1
+COM_PORT_B_LED_3=1
+COM_PORT_B_LED_4=1
+
+[TRRIGER]
+;线性点触发的脉冲宽度
+LINEAR_PULSE_WIDTH=500
+
+;等间距触发的脉冲宽度
+INTERVAL_PULSE_WIDTH=500
+
+;手动触发
+HOLD_TIME=150
+
+[LOG]
+;是否打开记录，默认0为关闭，1位打开,;LOG_IS_OPEN_0为是否打开记录功能
+LOG_IS_OPEN_0=1
+LOG_IS_OPEN_1=1
+LOG_IS_OPEN_2=1
+LOG_IS_OPEN_3=1
+LOG_IS_OPEN_4=0
+LOG_IS_OPEN_5=0
+LOG_IS_OPEN_6=0
+LOG_IS_OPEN_7=0
+LOG_IS_OPEN_8=0
+;是否启用统计定位函数的时间日志，1：启用，默认0关闭
+LOG2_IS_OPEN=0
+;定位几次后，计算这几次总共用时mm，默认4次
+LOG_SUM_COUNT=0
+
+
+
+

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/GTS800_Config.ini

@@ -0,0 +1,186 @@
+[IO]
+;是否启用IO功能，1为启用，0为关闭，默认0
+IS_IO_FUNTION=1
+
+;是否启用脚踏开关功能，1为启用，0为关闭，默认0
+IS_START_INPUT=0
+;启动软件运行的输入端口号，1为EXI0,2为EXI1，4为EXI2,8为EXI3，32768为EXI15默认1
+START_INPUT_PORT=1
+
+;是否启用急停功能，1为启用，0为关闭，默认0
+IS_QUICK_STOP=0
+;急停的输入端口号，EXI15:32768，EXI14:16384，EXI13:8192，EXI7:128，默认128
+QUICK_STOP_IN_PORT=128
+;急停对应的输出端口号，是关闭Robot的传送带使能，EXO15:EXO15:32768，，EXO14:16384，EXO13:8192  默认32768
+QUICK_STOP_OUT_PORT=32768
+
+;是否启用安全光栅功能，1为启用，0为关闭，默认0
+IS_SAFE_STOP=0
+;安全光栅的端口号
+;EXI15:32768，EXI14:16384，EXI13:8192，EXI12:4096，默认32768
+SAFE_STOP_PORT=32768
+;安全光栅采用停止模式0，还是暂停模式1，默认0停止模式
+SAFE_STOP_MODE=0
+
+;是否启用外部驱动器报警输出功能，1为启用，0为关闭，默认0
+IS_ALARM_OUTPUT_PORT=0
+;驱动器报警输出的端口号
+;EXO15:32767，EXO14:49151，EXO13:57343  默认32767
+ALARM_OUTPUT_PORT=32767
+
+;是否启用回家之前发信号给机械手，1为启用，0为关闭，默认0
+IS_HOME_TO_ROBOT=0
+;给机械手的输出端口号,获取优先启动权,不使用改为65535
+;EXO15:32767，EXO14:49151，EXO13:57343，EXO12:61439，EXO11:63487，EXO7:65407 默认65407
+HOME_TO_ROBOT_FIRST_OUT_PORT=65535
+;给机械手的输出端口号，机械手需要的复位信号，默认57343，不使用改为65535，一般只用这个输出
+HOME_TO_ROBOT_RESET_OUT_PORT=57343
+;给机械手的输出端口号，机械手真正启动信号，默认63487，不使用改为65535
+HOME_TO_ROBOT_START_OUT_PORT=65535
+;给机械手的输出端口号，机械手停止信号，默认49151，不使用改为65535
+HOME_TO_ROBOT_STOP_OUT_PORT=65535
+;给机械手停止信号的ON电平的时间，默认500ms,不使用改为0
+HOME_TO_ROBOT_FIRST_TIME=0
+;给机械手真正启动的ON时间，默认200ms,不使用改为0
+HOME_TO_ROBOT_START_TIME=0
+;给机械手停止信号的OFF电平的时间，默认500ms,不使用改为0
+HOME_TO_ROBOT_STOP_TIME=0
+;读取机械手发来的输入端口号，准许回家，不使用改为0，一般只用这个输入
+;EXI15:32767，EXI14:49151，EXI13:57343，EXI12:61439，EXI11:63487,默认32767
+HOME_TO_ROBOT_OK_IN_PORT=57343
+;读取机械手发来的输入端口号，需要复位,默认49151，不使用改为0
+HOME_TO_ROBOT_RESET_IN_PORT=0
+
+;是否启用第四轴为传送带功能，1为启用，0为关闭，默认0
+IS_TRANSPORER=0
+;启动传送带输入端口号,当该端口号为低电平时启动传送带
+;EXI15:32768，EXI14:16384，EXI15:32768，EXI10:1024，EXI9:512，EXI8:256，默认16384
+TRANSPORER_START_PORT=16384
+;停止传送带输入端口号,当该端口号为低电平时停止传送带
+;EXI15:32768，EXI14:16384，EXI15:32768，EXI10:1024，EXI9:512，EXI8:256，默认32768
+TRANSPORER_STOP_PORT=32768
+;给机械手的输出端口号,当停止传送带时，该端口号为高电平,EXO15：16，默认16
+TRANSPORER_TO_ROBOOT_PORT=16
+;传送带运行速度JOG档位和方向，要改变方向在前面加个负号即可
+;第四档：1.0，第三档：0.8，第二档：0.6，第一档：0.4，第零档：0.2，默认3档,正方向
+TRANSPORER_SPEED_GEAR=0.2
+;传送带使用的轴号，8表示第4轴，默认8
+TRANSPORER_AXIS=8
+
+;是否启用点击停止按钮时输出特定的端口号，可多个同时输出，1为启用，0为关闭，默认0
+IS_ABORT_MOTION_OUT_PORT=0
+;输出特定的端口号,默认65535(关闭所有)，只关闭EXO15:32767,只关闭EXO15和EXO14：16383
+ABORT_MOTION_OUT_PORT=65471
+
+;是否启用某一轴先回家，即先跑到限位的一边，最后还是一起找原点的，1为启用，0为关闭，默认0
+IS_AXIS_FIRST_HOME=0
+;启用的轴号，默认3：1轴，2:2轴，3:3轴，4:4轴
+AXIS_NUM_FIRST_HOME=3
+
+;是否启用XY轴插补，默认0关闭，1启用
+IS_SET_POS_XY=0
+
+;是否启用IO的顺序控制(搬运部分)，默认0关闭，1启用,为1时会启动该线程
+IS_IO_STEP=0
+;第四轴在上面取完料位置mm，默认0.0
+IO_STEP_UP_4=-62.0
+;第四轴在左边下面取料位置mm，默认0.0
+IO_STEP_LEFT_DOWN_4=-103.0
+;第四轴在右边下面取料位置mm，默认0.0
+IO_STEP_RIGHT_DOWN_4=-87.5
+;第三轴左边位置mm，默认0.0
+IO_STEP_LEFT_3=-3.8
+;第三轴右边位置mm，默认0.0
+IO_STEP_RIGHT_3=-564.2
+;左边可以下去取料输出端口，端口为开时，启动4轴下去取料,信号关闭时，不下去取料，默认65531：EXO2，65534：EXO0
+IO_STEP_LEFT_LOAD_OUT_PORT=65531
+;左边第4轴取完料后，输出信号为开时，告诉第一台电脑可以继续出去测量,14：EXO14,自动+1
+IO_STEP_LEFT_CONTINUE_OUT_PORT=14
+;右边可以下去放料的输入端口，端口为开时，启动4轴下去放料，默认16384:EXI14,32768:EXI15
+IO_STEP_RIGHT_UPLOAD_IN_PORT=16384
+;右边第4轴放完料后，端口为开时，告诉第二台电脑可以继续出去测量的输出信号，默认15：EXO15，14：EXO14,自动+1
+IO_STEP_RIGHT_CONTINUE_OUT_PORT=15
+;第三轴的搬运吸盘的输出端口，默认4：EXO4，5：EXO5，内部按位输出，自动+1(从1到16)
+IO_STEP_SUCKER_OUT_PORT=4
+;模具上是否有料的输入端口(上料感应)，默认1：EXI0，8：EXI3
+IO_STEP_LOADING_IN_PORT=32768
+
+[SAFETY_LOCK]
+;是否启用轴之间的安全互锁，1启用，默认0关闭
+IS_SAFETY_LOCK=0
+;当互锁条件成立时需要锁住的轴号A，默认3轴
+SAFETY_LOCK_AXIS_A=2
+;当互锁条件成立时需要锁住的轴号B，默认3轴
+SAFETY_LOCK_AXIS_B=3
+;当互锁条件的输入端口号A，默认32768为EXI15,1为EXI0,2为EXI1，4为EXI2,8为EXI3
+SAFETY_LOCK_INPORT_A=32768
+;当互锁条件的输入端口号B，默认32768为EXI15,1为EXI0,2为EXI1，4为EXI2,8为EXI3
+SAFETY_LOCK_INPORT_B=32768
+
+[SERIAL_PORT]
+;是否打开串口控制器，1启用，默认0关闭
+IS_SERIAL_PORT=0
+;使用的端口号，默认端口号3
+SERIAL_PORT_NUM=5
+
+[PROBE]
+;是否启用探针捕获功能，1启用，默认0关闭
+IS_PROBE=0
+;探针触发时，锁存的轴号，默认3表示锁存XYZ共3轴，4表示XYZA共4轴
+PROBE_ALL_AXIS=3
+;探针触发时，调试时返回的距离mm，点击启动按钮时不起作用,默认10.0mm
+PROBE_RETURN_POS=5.0
+
+[OK_NG]
+;是否启用软件内部OK/NG判断功能，1启用，默认0关闭
+IS_OK_NG=0
+;工位1输出端口号,EXO0:65534，EXO1:65533，EXO2:65531，EXO3:65527，不输出为65535，默认65535
+OK_NG_OUT_PORT1=65533
+;工位2输出端口号,EXO0:65534，EXO1:65533，EXO2:65531，EXO3:65527，不输出为65535，默认65535
+OK_NG_OUT_PORT2=65534
+
+[HOME]
+;回家精度判断，默认4个脉冲
+HOME_PULSE_1=4
+HOME_PULSE_2=4
+HOME_PULSE_3=4
+HOME_PULSE_4=4
+HOME_PULSE_5=4
+HOME_PULSE_6=4
+HOME_PULSE_7=4
+HOME_PULSE_8=4
+
+[JOG]
+;是否启用Z轴JOG速度独立,1启用，默认0关闭
+IS_JOG_AXIS_3=0
+;Z轴JOG速度是XY的几倍，默认1.0
+JOG_AXIS_3_GEAR=0.5
+
+[SPECIAL_MOTOR]
+;是否启用第4轴步进电机控制，该电机没有编码器和光栅尺反馈，回家采用限位当做原点，1启用，默认0关闭
+IS_SPECIAL_MOTOR=0
+
+[DOUBLE_SWITCH]
+;是否启用2个脚踏开关，1启用，默认0关闭
+IS_DOUBLE_SWITCH=0
+;2个开关的间隔时间ms，超过间隔时间，即使2个开关都已按下也无效，默认500ms
+DOUBLE_SWITCH_TIME=500
+;第一个开关的输入端口号，1为EXI0,2为EXI1，4为EXI2,8为EXI3，32768为EXI15，默认1
+DOUBLE_SWITCH_INPUT_PORT_A=1
+;第二个开关的输入端口号，1为EXI0,2为EXI1，4为EXI2,8为EXI3，32768为EXI15，默认2
+DOUBLE_SWITCH_INPUT_PORT_B=2
+
+[SEND_OUTPUT]
+;是否启用满足输出信号和位置高度时，输出对应端口，1启用，默认0关闭
+IS_OUTPUT_HIGH=0
+;判断是否满足条件的输出端口号,1为EXO0,2为EXO1，4为EXO2,8为EXO3，32768为EXO15，默认1
+OUTPUT_HIGH_ENABLE_OUT=1
+;轴号,默认1：1轴
+OUTPUT_HIGH_AXIS=1
+;位置,默认0.0，单位mm
+OUTPUT_HIGH_POS=0.0
+;输出对应的端口号,EXO0:0，EXO1:1，EXO2:2，EXO3:3，默认0
+OUTPUT_HIGH_OUTPORT=0
+
+
+

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/GTS800_Motion.cfg

@@ -0,0 +1,839 @@
+[profile1]
+active=1
+decSmoothStop=3.000000
+decAbruptStop=1000.000000
+[profile2]
+active=1
+decSmoothStop=5.000000
+decAbruptStop=1000.000000
+[profile3]
+active=1
+decSmoothStop=5.000000
+decAbruptStop=1000.000000
+[profile4]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile5]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile6]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile7]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[profile8]
+active=1
+decSmoothStop=1.000000
+decAbruptStop=1000.000000
+[axis1]
+active=1
+alarmType=2
+alarmIndex=1
+limitPositiveType=0
+limitPositiveIndex=1
+limitNegativeType=1
+limitNegativeIndex=1
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x1
+encMap=0x1
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis2]
+active=1
+alarmType=2
+alarmIndex=-1
+limitPositiveType=0
+limitPositiveIndex=2
+limitNegativeType=1
+limitNegativeIndex=2
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x2
+encMap=0x2
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis3]
+active=1
+alarmType=2
+alarmIndex=3
+limitPositiveType=1
+limitPositiveIndex=3
+limitNegativeType=0
+limitNegativeIndex=3
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x4
+encMap=0x4
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis4]
+active=1
+alarmType=2
+alarmIndex=-1
+limitPositiveType=0
+limitPositiveIndex=4
+limitNegativeType=1
+limitNegativeIndex=4
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x8
+encMap=0x8
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis5]
+active=1
+alarmType=2
+alarmIndex=-1
+limitPositiveType=0
+limitPositiveIndex=5
+limitNegativeType=1
+limitNegativeIndex=5
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x10
+encMap=0x10
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis6]
+active=1
+alarmType=2
+alarmIndex=-1
+limitPositiveType=0
+limitPositiveIndex=6
+limitNegativeType=1
+limitNegativeIndex=6
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x20
+encMap=0x20
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis7]
+active=1
+alarmType=2
+alarmIndex=-1
+limitPositiveType=0
+limitPositiveIndex=7
+limitNegativeType=1
+limitNegativeIndex=7
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x40
+encMap=0x40
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[axis8]
+active=1
+alarmType=2
+alarmIndex=-1
+limitPositiveType=0
+limitPositiveIndex=8
+limitNegativeType=1
+limitNegativeIndex=8
+smoothStopType=4
+smoothStopIndex=-1
+abruptStopType=4
+abruptStopIndex=-1
+prfMap=0x80
+encMap=0x80
+prfMapAlpha1=1
+prfMapBeta1=1
+prfMapAlpha2=1
+prfMapBeta2=1
+encMapAlpha1=1
+encMapBeta1=1
+encMapAlpha2=1
+encMapBeta2=1
+[control1]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=2000
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control2]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=32767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control3]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=52767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control4]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=32767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control5]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=32767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control6]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=32767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control7]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=32767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[control8]
+active=0
+axis=-1
+encoder1=-1
+encoder2=-1
+errorLimit=32767
+filterType1=0
+filterType2=0
+filterType3=0
+encoderSmooth=8
+controlSmooth=8
+[dac1]
+active=0
+control=-1
+reverse=1
+bias=0
+limit=32767
+[dac2]
+active=0
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac3]
+active=0
+control=-1
+reverse=1
+bias=0
+limit=32767
+[dac4]
+active=0
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac5]
+active=0
+control=-1
+reverse=1
+bias=0
+limit=32767
+[dac6]
+active=0
+control=-1
+reverse=0
+bias=0
+limit=32767
+[dac7]
+active=0
+control=-1
+reverse=1
+bias=0
+limit=32767
+[dac8]
+active=0
+control=-1
+reverse=1
+bias=0
+limit=32767
+[step1]
+active=1
+axis=1
+mode=0
+parameter=0
+reverse=0
+[step2]
+active=1
+axis=2
+mode=0
+parameter=0
+reverse=0
+[step3]
+active=1
+axis=3
+mode=0
+parameter=0
+reverse=0
+[step4]
+active=1
+axis=4
+mode=0
+parameter=0
+reverse=0
+[step5]
+active=1
+axis=5
+mode=0
+parameter=0
+reverse=0
+[step6]
+active=1
+axis=6
+mode=0
+parameter=0
+reverse=0
+[step7]
+active=1
+axis=7
+mode=0
+parameter=0
+reverse=0
+[step8]
+active=1
+axis=8
+mode=0
+parameter=0
+reverse=0
+[encoder1]
+active=1
+reverse=0
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder2]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder3]
+active=1
+reverse=0
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder4]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder5]
+active=1
+reverse=0
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder6]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder7]
+active=1
+reverse=0
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder8]
+active=1
+reverse=0
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[encoder9]
+active=1
+reverse=1
+filterType=0
+captureSource=0
+captureHomeSense=0
+captureIndexSense=0
+[enable1]
+active=1
+axis=1
+axisItem=-1
+reverse=1
+[enable2]
+active=1
+axis=2
+axisItem=-1
+reverse=1
+[enable3]
+active=1
+axis=3
+axisItem=-1
+reverse=1
+[enable4]
+active=1
+axis=4
+axisItem=-1
+reverse=1
+[enable5]
+active=1
+axis=5
+axisItem=-1
+reverse=1
+[enable6]
+active=1
+axis=6
+axisItem=-1
+reverse=1
+[enable7]
+active=1
+axis=7
+axisItem=-1
+reverse=1
+[enable8]
+active=1
+axis=8
+axisItem=-1
+reverse=1
+[clear1]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear2]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear3]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear4]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear5]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear6]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear7]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[clear8]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo1]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo2]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo3]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo4]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo5]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo6]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo7]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo8]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo9]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo10]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo11]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo12]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo13]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo14]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo15]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[gpo16]
+active=1
+axis=-1
+axisItem=-1
+reverse=0
+[limitPositive1]
+active=1
+reverse=1
+filterTime=3
+[limitPositive2]
+active=1
+reverse=1
+filterTime=3
+[limitPositive3]
+active=1
+reverse=1
+filterTime=3
+[limitPositive4]
+active=1
+reverse=1
+filterTime=3
+[limitPositive5]
+active=1
+reverse=1
+filterTime=3
+[limitPositive6]
+active=1
+reverse=1
+filterTime=3
+[limitPositive7]
+active=1
+reverse=1
+filterTime=3
+[limitPositive8]
+active=1
+reverse=1
+filterTime=3
+[limitNegative1]
+active=1
+reverse=1
+filterTime=3
+[limitNegative2]
+active=1
+reverse=1
+filterTime=3
+[limitNegative3]
+active=1
+reverse=1
+filterTime=3
+[limitNegative4]
+active=1
+reverse=1
+filterTime=3
+[limitNegative5]
+active=1
+reverse=1
+filterTime=3
+[limitNegative6]
+active=1
+reverse=1
+filterTime=3
+[limitNegative7]
+active=1
+reverse=1
+filterTime=3
+[limitNegative8]
+active=1
+reverse=1
+filterTime=3
+[alarm1]
+active=1
+reverse=0
+filterTime=3
+[alarm2]
+active=1
+reverse=0
+filterTime=3
+[alarm3]
+active=1
+reverse=0
+filterTime=3
+[alarm4]
+active=1
+reverse=1
+filterTime=3
+[alarm5]
+active=1
+reverse=1
+filterTime=3
+[alarm6]
+active=1
+reverse=1
+filterTime=3
+[alarm7]
+active=1
+reverse=1
+filterTime=3
+[alarm8]
+active=1
+reverse=1
+filterTime=3
+[home1]
+active=1
+reverse=1
+filterTime=3
+[home2]
+active=1
+reverse=1
+filterTime=3
+[home3]
+active=1
+reverse=1
+filterTime=3
+[home4]
+active=1
+reverse=1
+filterTime=3
+[home5]
+active=1
+reverse=1
+filterTime=3
+[home6]
+active=1
+reverse=1
+filterTime=3
+[home7]
+active=1
+reverse=1
+filterTime=3
+[home8]
+active=1
+reverse=1
+filterTime=3
+[gpi1]
+active=1
+reverse=0
+filterTime=3
+[gpi2]
+active=1
+reverse=0
+filterTime=3
+[gpi3]
+active=1
+reverse=0
+filterTime=3
+[gpi4]
+active=1
+reverse=0
+filterTime=3
+[gpi5]
+active=1
+reverse=0
+filterTime=3
+[gpi6]
+active=1
+reverse=0
+filterTime=3
+[gpi7]
+active=1
+reverse=0
+filterTime=3
+[gpi8]
+active=1
+reverse=0
+filterTime=3
+[gpi9]
+active=1
+reverse=0
+filterTime=3
+[gpi10]
+active=1
+reverse=0
+filterTime=3
+[gpi11]
+active=1
+reverse=0
+filterTime=3
+[gpi12]
+active=1
+reverse=0
+filterTime=3
+[gpi13]
+active=1
+reverse=0
+filterTime=3
+[gpi14]
+active=1
+reverse=0
+filterTime=3
+[gpi15]
+active=1
+reverse=0
+filterTime=3
+[gpi16]
+active=1
+reverse=0
+filterTime=3
+[arrive1]
+active=1
+reverse=1
+filterTime=8
+[arrive2]
+active=1
+reverse=1
+filterTime=8
+[arrive3]
+active=1
+reverse=1
+filterTime=8
+[arrive4]
+active=1
+reverse=1
+filterTime=9
+[arrive5]
+active=1
+reverse=1
+filterTime=8
+[arrive6]
+active=1
+reverse=0
+filterTime=3
+[arrive7]
+active=1
+reverse=1
+filterTime=8
+[arrive8]
+active=1
+reverse=1
+filterTime=8

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/GTS800_Motion.ini

@@ -0,0 +1,337 @@
+[JOG_SPEED]
+JOG速度(pulse/ms)
+JOG_SPEED_0=200.0
+JOG_SPEED_1=150.0
+JOG_SPEED_2=50
+JOG_SPEED_3=10
+JOG_SPEED_4=1
+
+;JOG加速度(pulse/ms^2)
+JOG_ACC_0=2.0
+JOG_ACC_1=2.0
+JOG_ACC_2=2.0
+JOG_ACC_3=1.0
+JOG_ACC_4=1.0
+
+;JOG减速度(pulse/ms^2)
+JOG_DEC_0=2.0
+JOG_DEC_1=2.0
+JOG_DEC_2=2.0
+JOG_DEC_3=1.0
+JOG_DEC_4=1.0
+
+;JOG模式采用急停还是平滑停止,0是平滑停止1为急停，默认0
+JOG_STOP_MODE_1=0
+JOG_STOP_MODE_2=0
+JOG_STOP_MODE_3=0
+JOG_STOP_MODE_4=0
+JOG_STOP_MODE_5=0
+JOG_STOP_MODE_6=0
+JOG_STOP_MODE_7=0
+JOG_STOP_MODE_8=0
+JOG_STOP_MODE=0
+JOG_SPEED_GEAR0_1=200.0
+JOG_ACC_GEAR0_1=2.0
+JOG_DEC_GEAR0_1=2.0
+JOG_SPEED_GEAR0_2=200.0
+JOG_ACC_GEAR0_2=2.0
+JOG_DEC_GEAR0_2=2.0
+JOG_SPEED_GEAR0_3=150.0
+JOG_ACC_GEAR0_3=2.0
+JOG_DEC_GEAR0_3=2.0
+JOG_SPEED_GEAR0_4=200.0
+JOG_ACC_GEAR0_4=2.0
+JOG_DEC_GEAR0_4=2.0
+JOG_SPEED_GEAR1_1=100.0
+JOG_ACC_GEAR1_1=2.0
+JOG_DEC_GEAR1_1=2.0
+JOG_SPEED_GEAR1_2=100.0
+JOG_ACC_GEAR1_2=2.0
+JOG_DEC_GEAR1_2=2.0
+JOG_SPEED_GEAR1_3=80.0
+JOG_ACC_GEAR1_3=2.0
+JOG_DEC_GEAR1_3=2.0
+JOG_SPEED_GEAR1_4=100.0
+JOG_ACC_GEAR1_4=2.0
+JOG_DEC_GEAR1_4=2.0
+JOG_SPEED_GEAR2_1=50.0
+JOG_ACC_GEAR2_1=2.0
+JOG_DEC_GEAR2_1=2.0
+JOG_SPEED_GEAR2_2=50.0
+JOG_ACC_GEAR2_2=2.0
+JOG_DEC_GEAR2_2=2.0
+JOG_SPEED_GEAR2_3=50.0
+JOG_ACC_GEAR2_3=2.0
+JOG_DEC_GEAR2_3=2.0
+JOG_SPEED_GEAR2_4=50.0
+JOG_ACC_GEAR2_4=2.0
+JOG_DEC_GEAR2_4=2.0
+JOG_SPEED_GEAR3_1=10.0
+JOG_ACC_GEAR3_1=1.0
+JOG_DEC_GEAR3_1=1.0
+JOG_SPEED_GEAR3_2=10.0
+JOG_ACC_GEAR3_2=1.0
+JOG_DEC_GEAR3_2=1.0
+JOG_SPEED_GEAR3_3=10.0
+JOG_ACC_GEAR3_3=1.0
+JOG_DEC_GEAR3_3=1.0
+JOG_SPEED_GEAR3_4=10.0
+JOG_ACC_GEAR3_4=1.0
+JOG_DEC_GEAR3_4=1.0
+JOG_SPEED_GEAR4_1=1.0
+JOG_ACC_GEAR4_1=1.0
+JOG_DEC_GEAR4_1=1.0
+JOG_SPEED_GEAR4_2=1.0
+JOG_ACC_GEAR4_2=1.0
+JOG_DEC_GEAR4_2=1.0
+JOG_SPEED_GEAR4_3=1.0
+JOG_ACC_GEAR4_3=1.0
+JOG_DEC_GEAR4_3=1.0
+JOG_SPEED_GEAR4_4=1.0
+JOG_ACC_GEAR4_4=1.0
+JOG_DEC_GEAR4_4=1.0
+
+;0:都使用(正常情况)   1:只使用灯，而不使用控制器;默认0
+[USE_LIGHT]
+ONLY_USE_LIGHT=0
+
+[RESOLUTION]
+;光栅尺的分辨率(mm)
+SCALE_RESOLUTION_1=0.0004
+SCALE_RESOLUTION_2=0.0004
+SCALE_RESOLUTION_3=0.0004
+SCALE_RESOLUTION_4=0.0004
+SCALE_RESOLUTION_5=0.0004
+SCALE_RESOLUTION_6=0.0004
+SCALE_RESOLUTION_7=0.0004
+SCALE_RESOLUTION_8=0.0004
+
+[LIMIT]
+;负限位(mm)，必须是负数
+NEG_WORKING_LIMIT_1=-260.0
+NEG_WORKING_LIMIT_2=-40.0
+NEG_WORKING_LIMIT_3=-40.0
+NEG_WORKING_LIMIT_4=-40.0
+NEG_WORKING_LIMIT_5=-40.0
+NEG_WORKING_LIMIT_6=-40.0
+NEG_WORKING_LIMIT_7=-40.0
+NEG_WORKING_LIMIT_8=-40.0
+
+;正限位(mm)，必须是正数
+POS_WORKING_LIMIT_1=40.0
+POS_WORKING_LIMIT_2=160.0
+POS_WORKING_LIMIT_3=160.0
+POS_WORKING_LIMIT_4=200.0
+POS_WORKING_LIMIT_5=200.0
+POS_WORKING_LIMIT_6=200.0
+POS_WORKING_LIMIT_7=200.0
+POS_WORKING_LIMIT_8=200.0
+
+[HOME]
+;选择需要回家的轴号，改为1
+HOME_MACHINE_AXIS_1=1
+HOME_MACHINE_AXIS_2=1
+HOME_MACHINE_AXIS_3=1
+HOME_MACHINE_AXIS_4=0
+HOME_MACHINE_AXIS_5=0
+HOME_MACHINE_AXIS_6=0
+HOME_MACHINE_AXIS_7=0
+HOME_MACHINE_AXIS_8=0
+
+;是否启动实际位置判断是否回家，默认0，1启用，0关闭
+IS_HOME_ENC_POS=0
+;是否启动规划位置判断是否回家，默认1，1启用，0关闭
+IS_HOME_PRF_POS=1
+
+;关闭电源时记住当前的位置，用于判断是否需要回家
+HOME_POS_AXIS_1=0
+HOME_POS_AXIS_2=0
+HOME_POS_AXIS_3=0
+HOME_POS_AXIS_4=0
+HOME_POS_AXIS_5=0
+HOME_POS_AXIS_6=0
+HOME_POS_AXIS_7=0
+HOME_POS_AXIS_8=0
+
+;回家第一段速度(pulse/ms)
+HOME_HIGH_SPEED_1=200.0
+HOME_HIGH_SPEED_2=200.0
+HOME_HIGH_SPEED_3=200.0
+HOME_HIGH_SPEED_4=200.0
+HOME_HIGH_SPEED_5=200.0
+HOME_HIGH_SPEED_6=200.0
+HOME_HIGH_SPEED_7=200.0
+HOME_HIGH_SPEED_8=200.0
+
+;回家第一段加速度(pulse/ms^2)
+HOME_HIGH_ACC_1=2.0
+HOME_HIGH_ACC_2=2.0
+HOME_HIGH_ACC_3=2.0
+HOME_HIGH_ACC_4=2.0
+HOME_HIGH_ACC_5=2.0
+HOME_HIGH_ACC_6=2.0
+HOME_HIGH_ACC_7=2.0
+HOME_HIGH_ACC_8=2.0
+
+;回家第二段速度(pulse/ms)
+HOME_LOW_SPEED_1=180.0
+HOME_LOW_SPEED_2=180.0
+HOME_LOW_SPEED_3=180.0
+HOME_LOW_SPEED_4=180.0
+HOME_LOW_SPEED_5=180.0
+HOME_LOW_SPEED_6=180.0
+HOME_LOW_SPEED_7=180.0
+HOME_LOW_SPEED_8=180.0
+
+;回家第二段加速度(pulse/ms^2)
+HOME_LOW_ACC_1=2.0
+HOME_LOW_ACC_2=2.0
+HOME_LOW_ACC_3=2.0
+HOME_LOW_ACC_4=2.0
+HOME_LOW_ACC_5=2.0
+HOME_LOW_ACC_6=2.0
+HOME_LOW_ACC_7=2.0
+HOME_LOW_ACC_8=2.0
+
+;回家延时时间(ms)
+HOME_TIME_1=1000
+HOME_TIME_2=1000
+HOME_TIME_3=1000
+HOME_TIME_4=1000
+HOME_TIME_5=1000
+HOME_TIME_6=1000
+HOME_TIME_7=1000
+HOME_TIME_8=1000
+
+[PID]
+;PID比例调节,应从0.01递增开始调试
+PID_KP_1=1.20
+PID_KP_2=1.20
+PID_KP_3=1.20
+PID_KP_4=1.20
+PID_KP_5=1.20
+PID_KP_6=1.20
+PID_KP_7=1.20
+PID_KP_8=1.20
+
+[PRECISION]
+;超时时间(0.1ms)
+PRECISION_TIME_1=20000
+PRECISION_TIME_2=20000
+PRECISION_TIME_3=20000
+PRECISION_TIME_4=20000
+PRECISION_TIME_5=20000
+PRECISION_TIME_6=20000
+PRECISION_TIME_7=20000
+PRECISION_TIME_8=20000
+
+;回家误差脉冲个数
+PRECISION_COUNT_1=8
+PRECISION_COUNT_2=8
+PRECISION_COUNT_3=8
+PRECISION_COUNT_4=8
+PRECISION_COUNT_5=8
+PRECISION_COUNT_6=8
+PRECISION_COUNT_7=8
+PRECISION_COUNT_8=8
+
+[SET_POSITION_SPEED]
+;XYZ定位的合成速度(pulse/ms)
+SET_POTION_SPEED_1=500.0
+SET_POTION_SPEED_2=500.0
+SET_POTION_SPEED_3=500.0
+SET_POTION_SPEED_4=500.0
+SET_POTION_SPEED_5=500.0
+SET_POTION_SPEED_6=500.0
+SET_POTION_SPEED_7=500.0
+SET_POTION_SPEED_8=500.0
+
+;XYZ定位的合成加速度(pulse/ms^2)
+SET_POTION_ACC_1=2.5
+SET_POTION_ACC_2=2.5
+SET_POTION_ACC_3=2.5
+SET_POTION_ACC_4=2.5
+SET_POTION_ACC_5=2.5
+SET_POTION_ACC_6=2.5
+SET_POTION_ACC_7=2.5
+SET_POTION_ACC_8=2.5
+
+;XYZ定位的终点速度(pulse/ms)
+SET_POTION_DEC_1=1.0
+SET_POTION_DEC_2=1.0
+SET_POTION_DEC_3=1.0
+SET_POTION_DEC_4=1.0
+SET_POTION_DEC_5=1.0
+SET_POTION_DEC_6=1.0
+SET_POTION_DEC_7=1.0
+SET_POTION_DEC_8=1.0
+
+;XYZ定到位判断次数
+SET_POSITION_COUNT_1=240
+SET_POSITION_COUNT_2=240
+SET_POSITION_COUNT_3=240
+SET_POSITION_COUNT_4=240
+SET_POSITION_COUNT_5=240
+SET_POSITION_COUNT_6=240
+SET_POSITION_COUNT_7=240
+SET_POSITION_COUNT_8=240
+
+[COMPORT]
+;灯光控制器类型选择
+;0:启用c++调用灯光,不使用STM32 USB控制时，需要把下面的IS_STM32_USB改为0
+;1:wpf直接调用;
+;2:DP光源控制器;
+;3:旧的6环8区为3(环形可调);
+;4:新的6环8区为4(扇区可调);
+;5:STM32控制器,IP地址在exe目录下的CameraNum.ini中修改
+;61:OPT光源控制器网络模式(111ms),IP地址在exe目录下的CameraNum.ini中修改，串口模式62(44ms);
+COM_PORT_CPP_WPF=0
+
+;使用stm32时，是否使用USB通讯，使用该功能时，COM_PORT_CPP_WPF必须等于0
+IS_STM32_USB=0
+
+;是否打开第一个串，1为打开，0为关闭，默认0
+IS_COM_PORT_A=0
+COM_PORT_A=2
+COM_PORT_A_LED_1=1
+COM_PORT_A_LED_2=1
+COM_PORT_A_LED_3=1
+COM_PORT_A_LED_4=1
+
+;是否打开第二个串，1为打开，0为关闭，默认0
+IS_COM_PORT_B=0
+COM_PORT_B=6
+COM_PORT_B_LED_1=1
+COM_PORT_B_LED_2=1
+COM_PORT_B_LED_3=1
+COM_PORT_B_LED_4=1
+
+[TRRIGER]
+;线性点触发的脉冲宽度
+LINEAR_PULSE_WIDTH=500
+
+;等间距触发的脉冲宽度
+INTERVAL_PULSE_WIDTH=500
+
+;手动触发
+HOLD_TIME=150
+
+[LOG]
+;是否打开记录，默认0为关闭，1位打开,;LOG_IS_OPEN_0为是否打开记录功能
+LOG_IS_OPEN_0=1
+LOG_IS_OPEN_1=1
+LOG_IS_OPEN_2=1
+LOG_IS_OPEN_3=1
+LOG_IS_OPEN_4=0
+LOG_IS_OPEN_5=0
+LOG_IS_OPEN_6=0
+LOG_IS_OPEN_7=0
+LOG_IS_OPEN_8=0
+;是否启用统计定位函数的时间日志，1：启用，默认0关闭
+LOG2_IS_OPEN=0
+;定位几次后，计算这几次总共用时mm，默认4次
+LOG_SUM_COUNT=0
+
+
+
+

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini

@@ -0,0 +1,3 @@
+[Default]
+MotionControlSpeed=1
+ControllerType=1