From b7fef58da8633681822f5ec9fb7564dbf1d83353 Mon Sep 17 00:00:00 2001
From: "zhengxuan.zhang" <zhengxuan.zhang@hexagon.com>
Date: Tue, 1 Nov 2022 20:20:14 +0800
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---
 HSI_HexagonMI_EF3/HSI_Motion.cpp              | 315 +++++++++++++++---
 HSI_HexagonMI_EF3/HSI_Motion.h                |  11 +-
 HSI_HexagonMI_EF3/logger.cpp                  |   1 +
 HSI_HexagonMI_EF3/logger.h                    |   4 +
 HSI_HexagonMI_EF3/version.h                   |   4 +-
 HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs          |  12 +-
 .../bin/Debug/Config/EF1_Motion.ini           |  88 ++---
 .../bin/Debug/Config/EF3_Config.ini           | Bin 7670 -> 7670 bytes
 8 files changed, 335 insertions(+), 100 deletions(-)

diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp
index 5342081..d60d5b8 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.cpp
+++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp
@@ -92,7 +92,7 @@ void ErrorsHandler()
 		{
 			ErrorStr[Received] = '\0';
 			printf("Motion Error: %d [%s]\n", ErrorCode, ErrorStr);
-			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error %s\n",ErrorStr);
+			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error %d%S\n", ErrorCode,ErrorStr);
 		}
 	}
 	else
@@ -460,8 +460,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 			{
 				//尝试打开ACS控制器
 				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] In\n");
-				g_pLogger->SendAndFlushWithTime(
-					L"[ACS Motion] Wait for opening of communication with the controller... \n");
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Wait for opening of communication with the controller... \n");
 				
 #ifdef OFFLINE //如果定义离线模式
 				handleACS = acsc_OpenCommSimulator();
@@ -501,7 +500,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 
 
 				//获取ACS 控制器版本号, 待测试，2.70
-				/*char Firmware[256];
+				char Firmware[256];
 				int Received;
 				if (!acsc_GetFirmwareVersion(handleACS, Firmware, 255, &Received, nullptr))
 				{
@@ -509,13 +508,17 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 					ErrorsHandler();
 				}
 				Firmware[Received-1] = '\0';
-				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Controller Version: %s\n", Firmware);*/
+				//printf("%s", Firmware);
+				
+				//https://www.cnblogs.com/MichaelOwen/articles/2128771.html
+				//g_pLogger->SendAndFlushWithTime(L"%s%s\n", _T("[ACS Motion] ACS Controller Version: "), L"你好");
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Controller Version: %S\n", Firmware);
 
 				//获取SPiiPlus C Library version
 				unsigned int Ver = acsc_GetLibraryVersion();
-				printf("SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)),
+			/*	printf("SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)),
 				       HIBYTE(LOWORD(Ver)),
-				       LOBYTE(LOWORD(Ver)));
+				       LOBYTE(LOWORD(Ver)));*/
 				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] SPiiPlus C Library version is %d.%d.%d.%d\n",
 				                                HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)),
 				                                LOBYTE(LOWORD(Ver)));
@@ -1843,7 +1846,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
 HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
-	g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d]  speed:[%lf]\n", AxisTypes, Speed);
+	g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d]  SpeedGear: [%lf]\n", AxisTypes, Speed);
 	if (g_pHSI_Motion)
 	{
 		if (m_DeviceType != 3) //非转盘设备
@@ -1851,7 +1854,13 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 			m_Thread_StateJOGStop = HSI_THREAD_RUNNING;
 			SetEvent(m_hTriggerEventJOGStop);
 		}
-
+		int DriveSpeed(1);
+		int StartSpeed(1);
+		int AccLine(1);
+		int DecLine(1);
+		int AccCurve(1);
+		int DecCurve(1);
+		int JogSpeed(1);
 		bool bJOGDir = Speed > 0 ? true : false; //运动方向
 		byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));//Jog
 		jogAxisNum = AxisNumber;
@@ -1861,42 +1870,176 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 		if (CurrentHomeMachineState == E_EF3_HOME_FINISHED)
 		{
 			//软限位
+			g_pLogger->SendAndFlushWithTime(
+				L"[Jog] Limit Enable, m_P_Work_Limit[AxisNumber] = %f,m_N_Work_Limit[AxisNumber] = %f\n",
+				m_P_Work_Limit[AxisNumber], m_N_Work_Limit[AxisNumber]);
 		}
 		else
 		{
 			//无效软限位
+			g_pLogger->SendAndFlushWithTime(L"[Jog] Limit No Enable\n");
 		}
 
-		//是否回过家
-		//if (m_Home_Machine_Axis[AxisNumber] == 0)
-		//{
-		//	return rStatus;
-		//}
-
-		// 是否启用急停
-		//if ((StartSpeed < 250) && (DriveSpeed < 6))
-		//{
-		//	m_IsUseJerk = 1;
-		//}
-		//else
-		//{
-		//	m_IsUseJerk = 0;
-		//}
+		//是否回过家判断
+		if (m_Home_Machine_Axis[AxisNumber] == 0)
+		{
+			return rStatus;
+		}
 
 		//设置 JOG运动参数 加减速 JOG_SPEED_ACC_DEC
+		double now_pos[5] = { 0 };
+		double Prf_pos[5] = { 0 };
+		double limitpos[4] = { 0 };
+		int RemainPul = 0;
+		int limitSDPul = 0;
+		double time;
+		/*GetPositionXyz(1, now_pos[0], now_pos[1], now_pos[2], time);*/
+		GetPositionEncPrfMulti(1, now_pos, Prf_pos, 1);
 
+		
+		JogSpeed = abs(SpeedPercent(AxisNumber, Speed, DriveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve));
+
+		g_pLogger->SendAndFlushWithTime(L"[Jog] StartSpeed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", StartSpeed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
+
+		if (m_DeviceType != 3)
+		{
+			if (AxisTypes == AXIS_X /*&& m_motorType & 0x01*/)
+			{
+				if (!bJOGDir) //负方向
+				{
+					RemainPul = static_cast<int>(now_pos[1] / m_Resolution[1]) - static_cast<int>(m_N_Work_Limit[1] /
+						m_Resolution[1]);
+					limitSDPul = (DriveSpeed - StartSpeed) * 13;
+					if ((RemainPul < limitSDPul * 2) && (RemainPul > 0))
+					{
+						float SpeedRatio = limitSDPul * 2 / RemainPul;
+						DriveSpeed = DriveSpeed / SpeedRatio;
+						if (DriveSpeed < StartSpeed)
+						{
+							DriveSpeed = StartSpeed;
+						}
+					}
+				}
+				else
+				{
+					RemainPul = static_cast<int>(m_P_Work_Limit[1] / m_Resolution[1]) - static_cast<int>(now_pos[1] /
+						m_Resolution[1]);
+					limitSDPul = (DriveSpeed - StartSpeed) * 13;
+					if ((RemainPul < limitSDPul * 2) && (RemainPul > 0))
+					{
+						float SpeedRatio = limitSDPul * 2 / RemainPul;
+						DriveSpeed = DriveSpeed / SpeedRatio;
+						if (DriveSpeed < StartSpeed)
+						{
+							DriveSpeed = StartSpeed;
+						}
+					}
+				}
+			}
+			else if (AxisTypes == AXIS_Y /*&& m_motorType & 0x02*/)
+			{
+				if (!bJOGDir) //负方向
+				{
+					RemainPul = static_cast<int>(now_pos[2] / m_Resolution[2]) - static_cast<int>(m_N_Work_Limit[2] /
+						m_Resolution[2]);
+					limitSDPul = (DriveSpeed - StartSpeed) * 13;
+					if ((RemainPul < limitSDPul * 2) && (RemainPul > 0))
+					{
+						float SpeedRatio = 1 + limitSDPul * 2 / RemainPul;
+						DriveSpeed = DriveSpeed / SpeedRatio;
+						if (DriveSpeed < StartSpeed)
+						{
+							DriveSpeed = StartSpeed;
+						}
+					}
+				}
+				else
+				{
+					RemainPul = static_cast<int>(m_P_Work_Limit[2] / m_Resolution[2]) - static_cast<int>(now_pos[2] /
+						m_Resolution[2]);
+					limitSDPul = (DriveSpeed - StartSpeed) * 13;
+					if ((RemainPul < limitSDPul * 2) && (RemainPul > 0))
+					{
+						float SpeedRatio = limitSDPul * 2 / RemainPul;
+						DriveSpeed = DriveSpeed / SpeedRatio;
+						if (DriveSpeed < StartSpeed)
+						{
+							DriveSpeed = StartSpeed;
+						}
+					}
+				}
+			}
+			if (AxisTypes == AXIS_Z /*&& m_motorType & 0x04*/)
+			{
+				if (!bJOGDir) //负方向
+				{
+					RemainPul = static_cast<int>(now_pos[3] / m_Resolution[3]) - static_cast<int>(m_N_Work_Limit[3] /
+						m_Resolution[3]);
+					limitSDPul = (DriveSpeed - StartSpeed) * 13;
+					if ((RemainPul < limitSDPul * 2) && (RemainPul > 0))
+					{
+						float SpeedRatio = limitSDPul * 2 / RemainPul;
+						DriveSpeed = DriveSpeed / SpeedRatio;
+						if (DriveSpeed < StartSpeed)
+						{
+							DriveSpeed = StartSpeed;
+						}
+					}
+				}
+				else
+				{
+					RemainPul = static_cast<int>(m_P_Work_Limit[3] / m_Resolution[3]) - static_cast<int>(now_pos[3] /
+						m_Resolution[3]);
+					limitSDPul = (DriveSpeed - StartSpeed) * 13;
+					if ((RemainPul < limitSDPul * 2) && (RemainPul > 0))
+					{
+						float SpeedRatio = limitSDPul * 2 / RemainPul;
+						DriveSpeed = DriveSpeed / SpeedRatio;
+						if (DriveSpeed < StartSpeed)
+						{
+							DriveSpeed = StartSpeed;
+						}
+					}
+				}
+			}
+		}
+
+		//速度限制
+		g_pLogger->SendAndFlushWithTime(L"[Jog] StartSpeed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", StartSpeed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
+
+		// 急停判断
+		if ((StartSpeed < 250) && (DriveSpeed < 6))
+		{
+			m_IsUseJerk = 1;
+		}
+		else
+		{
+			m_IsUseJerk = 0;
+		}
+
+		//打印当前轴的速度
+		double motionParam[5] = { 0 };
+		GetMotorParam(jogAxisNum, motionParam);
+		g_pLogger->SendAndFlushWithTime(
+			L"[Jog] Axis= %d, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
+			jogAxisNum, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]);
 
 		//开始JOG运动
-		int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向
-		if (!acsc_Jog(handleACS, 0, jogAxisNum, acsDirection, nullptr))
+		if (!bJOGDir)
+		{
+			StartSpeed = StartSpeed * (-1); // Negative direction : Using - (minus) velocity
+		}
+		//int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向
+		if (!acsc_Jog(handleACS, 0, jogAxisNum, StartSpeed, nullptr))
 		{
 			printf("[Jog] 轴[%d] [%s] 方向移动失败", AxisTypes, bJOGDir? "正" : "负");
-			g_pLogger->SendAndFlushWithTime(L"[Jog] aixs:[%d] JOGDir:[%s] Jog move failed\n", AxisTypes, bJOGDir ? "P" : "N");
+			g_pLogger->SendAndFlushWithTime(L"[Jog] failed, Aixs:[%d] JOGDir:[%S]\n", AxisTypes, bJOGDir ? "Positive" : "Negative");
 			ErrorsHandler();
 		}
 
+
 		jogMoving = true;
-		g_pLogger->SendAndFlushWithTime(L"[Jog] Out, bJOGDir = %s\n", bJOGDir? "positive":"negative");
+		g_pLogger->SendAndFlushWithTime(L"[Jog] Out, StartSpeed = %d\n", StartSpeed);
 	}
 	return rStatus;
 }
@@ -2375,14 +2518,14 @@ int HSI_Motion::P2P(short AxisNumber, long Pos, double Speed, double Acc)
 //===========================================================================
 //运动控制部分
 //===========================================================================
-HSI_STATUS HSI_Motion::GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count)
+HSI_STATUS HSI_Motion::GetPositionEncPrfMultiOld(UINT AxisTypes, double* EncPos, double* PrfPos, int Count)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	UNREFERENCED_PARAMETER(AxisTypes);
 	CString tempStr;
 	if (g_pHSI_Motion)
 	{
-		//g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] In\n"); 
+		g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] In\n"); 
 		if (m_SO7_Serial.m_RecvData[0] == 2)
 		{
 			EncPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.m_RecvData[
@@ -2442,11 +2585,81 @@ HSI_STATUS HSI_Motion::GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, do
 			PrfPos[4] = m_PrfPos[4];
 			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] failed\n");
 		}
-		//g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] Out\n");
+		g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] Out\n");
 	}
 	return rStatus;
 }
+HSI_STATUS HSI_Motion::GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count)
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	UNREFERENCED_PARAMETER(AxisTypes);
+	CString tempStr;
+	if (g_pHSI_Motion)
+	{
+		g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] In\n");
+		if (m_SO7_Serial.m_RecvData[0] == 2)
+		{
+			EncPos[1] = (m_SO7_Serial.m_RecvData[1] << 24 | m_SO7_Serial.m_RecvData[2] << 16 | m_SO7_Serial.m_RecvData[
+				3] << 8 | m_SO7_Serial.m_RecvData[4]) * m_Resolution[1];
+				EncPos[2] = (m_SO7_Serial.m_RecvData[5] << 24 | m_SO7_Serial.m_RecvData[6] << 16 | m_SO7_Serial.m_RecvData[
+					7] << 8 | m_SO7_Serial.m_RecvData[8]) * m_Resolution[2];
+					EncPos[3] = (m_SO7_Serial.m_RecvData[9] << 24 | m_SO7_Serial.m_RecvData[10] << 16 | m_SO7_Serial.m_RecvData[
+						11] << 8 | m_SO7_Serial.m_RecvData[12]) * m_Resolution[3];
+						EncPos[4] = (m_SO7_Serial.m_RecvData[13] << 24 | m_SO7_Serial.m_RecvData[14] << 16 | m_SO7_Serial.m_RecvData
+							[15] << 8 | m_SO7_Serial.m_RecvData[16]) * m_Resolution[4];
 
+						PrfPos[1] = (m_SO7_Serial.m_RecvData[17] << 24 | m_SO7_Serial.m_RecvData[18] << 16 | m_SO7_Serial.m_RecvData
+							[19] << 8 | m_SO7_Serial.m_RecvData[20]) * m_Resolution[1];
+						PrfPos[2] = (m_SO7_Serial.m_RecvData[21] << 24 | m_SO7_Serial.m_RecvData[22] << 16 | m_SO7_Serial.m_RecvData
+							[23] << 8 | m_SO7_Serial.m_RecvData[24]) * m_Resolution[2];
+						PrfPos[3] = (m_SO7_Serial.m_RecvData[25] << 24 | m_SO7_Serial.m_RecvData[26] << 16 | m_SO7_Serial.m_RecvData
+							[27] << 8 | m_SO7_Serial.m_RecvData[28]) * m_Resolution[3];
+						PrfPos[4] = (m_SO7_Serial.m_RecvData[29] << 24 | m_SO7_Serial.m_RecvData[30] << 16 | m_SO7_Serial.m_RecvData
+							[31] << 8 | m_SO7_Serial.m_RecvData[32]) * m_Resolution[4];
+
+						if (m_IsHavePattern & 0x01)
+							m_EncPos[1] = EncPos[1];
+						else
+							m_EncPos[1] = PrfPos[1];
+						if (m_IsHavePattern & 0x02)
+							m_EncPos[2] = EncPos[2];
+						else
+							m_EncPos[2] = PrfPos[2];
+						if (m_IsHavePattern & 0x04)
+							m_EncPos[3] = EncPos[3];
+						else
+							m_EncPos[3] = PrfPos[3];
+						if (m_IsHavePattern & 0x08)
+							m_EncPos[4] = EncPos[4];
+						else
+							m_EncPos[4] = PrfPos[4];
+
+						m_PrfPos[1] = PrfPos[1];
+						m_PrfPos[2] = PrfPos[2];
+						m_PrfPos[3] = PrfPos[3];
+						m_PrfPos[4] = PrfPos[4];
+
+						//begin_position[1] = EncPos[1] / m_Resolution[1];
+						//begin_position[2] = EncPos[2] / m_Resolution[1];
+						//begin_position[3] = EncPos[3] / m_Resolution[1];
+						//begin_position[4] = EncPos[4] / m_Resolution[1];
+		}
+		else
+		{
+			EncPos[1] = m_EncPos[1];
+			EncPos[2] = m_EncPos[2];
+			EncPos[2] = m_EncPos[3];
+			EncPos[4] = m_EncPos[4];
+			PrfPos[1] = m_PrfPos[1];
+			PrfPos[2] = m_PrfPos[2];
+			PrfPos[2] = m_PrfPos[3];
+			PrfPos[4] = m_PrfPos[4];
+			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] failed\n");
+		}
+		g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] Out\n");
+	}
+	return rStatus;
+}
 //===========================================================================
 /**
  * \brief 获取轴当前运动位置
@@ -3283,11 +3496,12 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 				PositionY, PositionZ);*/
 
 			//打印轴当前运动参数
-			double* motionParam[5] = {0};
-			GetMotorParam(ACSC_AXIS_0, motionParam);
+			byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));//轴号换算
+			double motionParam[5] = {0};
+			GetMotorParam(AxisNumber, motionParam);
 			g_pLogger->SendAndFlushWithTime(
-				L"[SetPositionXyz] axis= %d, GetVelocity = %d,GetAcceleration= %d,GetDeceleration= %d, GetKillDeceleration= %d, GetJerk= %d\n",
-				AXIS_X, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]);
+				L"[SetPositionXyz] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
+				jogAxisNum, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]);
 
 			//设置轴运动速度，TO-DO
 
@@ -3377,42 +3591,46 @@ int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc)
 //void func2(uchar* s); 	//利用指针返回数组 
 //uchar* func1();			//利用指针函数返回数组 
 //void func0(uchar*& r);	//利用引用返回数组 
-HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5])
+HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5])
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (handleACS != ACSC_INVALID)
 	{
+		g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] In\n");
+
 		//依次是 速度、加速度、减速、杀死速度、抖动
-		if (!acsc_GetVelocity(handleACS, AXIS, motionParam[0], nullptr))
+		if (!acsc_GetVelocity(handleACS, AXIS, motionParam+0, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetVelocity error\n");
 			rStatus = HSI_ACS_ERROR;
 			ErrorsHandler();
 		}
-		if (!acsc_GetAcceleration(handleACS, AXIS, motionParam[1], nullptr))
+
+		if (!acsc_GetAcceleration(handleACS, AXIS, motionParam+1, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetAcceleration error\n");
 			rStatus = HSI_ACS_ERROR;
 			ErrorsHandler();
 		}
-		if (!acsc_GetDeceleration(handleACS, AXIS, motionParam[2], nullptr))
+		if (!acsc_GetDeceleration(handleACS, AXIS, motionParam+2, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetDeceleration error\n");
 			rStatus = HSI_ACS_ERROR;
 			ErrorsHandler();
 		}
-		if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam[3], nullptr))
+		if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam+3, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetKillDeceleration error\n");
 			rStatus = HSI_ACS_ERROR;
 			ErrorsHandler();
 		}
-		if (!acsc_GetJerk(handleACS, AXIS, motionParam[4], nullptr))
+		if (!acsc_GetJerk(handleACS, AXIS, motionParam+4, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetJerk error\n");
 			rStatus = HSI_ACS_ERROR;
 			ErrorsHandler();
 		}
+		g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] Out\n");
 	}
 
 	return rStatus;
@@ -6967,14 +7185,14 @@ short HSI_Motion::AxisConvertIndex(UINT AxisTypes)
 			AxisNumber = 0x04;
 			break;
 		}
-	//case HSI_MOTION_AXIS_R:
-	//	{
-	//		AxisNumber = 0x04;
-	//		break;
-	//	}
+	case HSI_MOTION_AXIS_R:
+		{
+			AxisNumber = 0x04;
+			break;
+		}
 	default:
 		{
-			g_pLogger->SendAndFlushWithTime(L"AxisConvertIndex failed,AxisTypes = %d,AxisNumber = %d\n", AxisTypes,
+			g_pLogger->SendAndFlushWithTime(L"[AxisConvertIndex] failed, AxisTypes = %d,AxisNumber = %d\n", AxisTypes,
 			                                AxisNumber);
 			break;
 		}
@@ -7074,6 +7292,7 @@ HSI_STATUS HSI_Motion::GetPositionEx(UINT AxisTypes, double& Position, double& T
 		double position[4] = {0.0};
 		short AxisNumber = AxisConvertIndex(AxisTypes);
 		Position = m_PosForAllAxis[AxisNumber];
+		g_pLogger->SendAndFlushWithTime(L"[GetPositionEx] Position: %d\n", Position);
 	}
 	return rStatus;
 }
@@ -7329,6 +7548,7 @@ HSI_STATUS HSI_Motion::GetAccelerationEx(UINT AxisTypes, double& Accel)
 			Accel = m_SetPotion_StartSpeed[AxisNumber] * (m_Resolution[AxisNumber] * 500);
 		}
 	}
+	g_pLogger->SendAndFlushWithTime(L"[GetAccelerationEx] Accel = %d\n", Accel);
 	return rStatus;
 }
 
@@ -7352,6 +7572,7 @@ HSI_STATUS HSI_Motion::SetAccelerationEx(UINT AxisTypes, double Accel)
 			m_SetPotion_StartSpeed[AxisNumber] = static_cast<int>(Accel / (m_Resolution[AxisNumber] * 500));
 		}
 	}
+	g_pLogger->SendAndFlushWithTime(L"[SetAccelerationEx] Accel = %d\n", m_SetPotion_StartSpeed[AxisNumber]);
 	return rStatus;
 }
 
diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h
index ac0e555..5574e0d 100644
--- a/HSI_HexagonMI_EF3/HSI_Motion.h
+++ b/HSI_HexagonMI_EF3/HSI_Motion.h
@@ -205,7 +205,16 @@ public:
 	HSI_STATUS StopJog();
 	HSI_STATUS StopJogOld();
 	HSI_STATUS StopJogEx(UINT AxisTypes);
+	/**
+	 * \brief 
+	 * \param AxisTypes 
+	 * \param EncPos 
+	 * \param PrfPos 
+	 * \param Count 
+	 * \return 
+	 */
 	HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
+	HSI_STATUS GetPositionEncPrfMultiOld(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
 	/**
 	 * \brief 获取轴当前位置
 	 * \param AxisTypes 轴号
@@ -229,7 +238,7 @@ public:
 	 * \param motionParam 
 	 * \return 
 	 */
-	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5]);
+	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]);
 
 	/**
 	 * \brief 运行到指定位置
diff --git a/HSI_HexagonMI_EF3/logger.cpp b/HSI_HexagonMI_EF3/logger.cpp
index 8b9d971..33a994a 100644
--- a/HSI_HexagonMI_EF3/logger.cpp
+++ b/HSI_HexagonMI_EF3/logger.cpp
@@ -65,6 +65,7 @@ void CLogger::SendAndFlush(LPCTSTR format, ...)
 	LeaveCriticalSection(&m_lockLogger);
 }
 
+//https://www.educative.io/answers/what-is-vswprintfs-in-c
 void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
 {
 	EnterCriticalSection(&m_lockLogger);
diff --git a/HSI_HexagonMI_EF3/logger.h b/HSI_HexagonMI_EF3/logger.h
index 2a3f801..a488c13 100644
--- a/HSI_HexagonMI_EF3/logger.h
+++ b/HSI_HexagonMI_EF3/logger.h
@@ -27,6 +27,10 @@ class CLogger
 public:
 	CLogger(CString m_Name)
 	{
+		//璁剧疆涓枃鐜
+		//setlocale(LC_ALL, "Chinese-simplified");
+		setlocale(LC_ALL, "en_US.UTF-8");
+
 		IsEnabledLog = false;
 		m_File = nullptr;
 		CString Path = _T(""); // Speed optimization - noticed slow in GlowCode
diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h
index a3dab91..a07bec4 100644
--- a/HSI_HexagonMI_EF3/version.h
+++ b/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          "2022.11.01 / 12:05 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.11.01 / 12:05 ")  
+#define HSI_FILE_DESCRIPTION          "2022.11.01 / 20:15 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2022.11.01 / 20:15 ")  
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs b/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
index e37e7b5..8106e27 100644
--- a/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
+++ b/HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
@@ -430,12 +430,12 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
 
 		public 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_X = 0x0001, //对应ACS 0轴 X
-			HSI_MOTION_AXIS_Y = 0x0000, //对应ACS 1轴 Y
-			HSI_MOTION_AXIS_Z = 0x0004, //对应ACS 4轴 Z
+			//HSI_MOTION_AXIS_X = 0x0001, //对应ACS 0轴 X
+			//HSI_MOTION_AXIS_Y = 0x0000, //对应ACS 1轴 Y
+			//HSI_MOTION_AXIS_Z = 0x0004, //对应ACS 4轴 Z
+			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
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF1_Motion.ini b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF1_Motion.ini
index cab782f..cdbc655 100644
--- a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF1_Motion.ini
+++ b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF1_Motion.ini
@@ -1,26 +1,26 @@
 [JOG_SPEED]
-JOG速度(pulse/ms)
+JOG閫熷害(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鍔犻�熷害(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鍑忛�熷害(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妯″紡閲囩敤鎬ュ仠杩樻槸骞虫粦鍋滄,0鏄钩婊戝仠姝�1涓烘�ュ仠锛岄粯璁�0
 JOG_STOP_MODE_1=0
 JOG_STOP_MODE_2=0
 JOG_STOP_MODE_3=0
@@ -91,12 +91,12 @@ 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
+;0:閮戒娇鐢�(姝ｅ父鎯呭喌)   1:鍙娇鐢ㄧ伅锛岃�屼笉浣跨敤鎺у埗鍣�;榛樿0
 [USE_LIGHT]
 ONLY_USE_LIGHT=0
 
 [RESOLUTION]
-;光栅尺的分辨率(mm)
+;鍏夋爡灏虹殑鍒嗚鲸鐜�(mm)
 SCALE_RESOLUTION_1=0.0004
 SCALE_RESOLUTION_2=0.0004
 SCALE_RESOLUTION_3=0.0004
@@ -107,7 +107,7 @@ SCALE_RESOLUTION_7=0.0004
 SCALE_RESOLUTION_8=0.0004
 
 [LIMIT]
-;负限位(mm)，必须是负数
+;璐熼檺浣�(mm)锛屽繀椤绘槸璐熸暟
 NEG_WORKING_LIMIT_1=-260.0
 NEG_WORKING_LIMIT_2=-40.0
 NEG_WORKING_LIMIT_3=-40.0
@@ -117,10 +117,10 @@ 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
+;姝ｉ檺浣�(mm)锛屽繀椤绘槸姝ｆ暟
+POS_WORKING_LIMIT_1=10.0
+POS_WORKING_LIMIT_2=200.0
+POS_WORKING_LIMIT_3=200.0
 POS_WORKING_LIMIT_4=200.0
 POS_WORKING_LIMIT_5=200.0
 POS_WORKING_LIMIT_6=200.0
@@ -128,7 +128,7 @@ 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
+;閫夋嫨闇�瑕佸洖瀹剁殑杞村彿锛屾敼涓�1
 HOME_MACHINE_AXIS_1=1
 HOME_MACHINE_AXIS_2=1
 HOME_MACHINE_AXIS_3=1
@@ -138,12 +138,12 @@ 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
+;鏄惁鍚姩瀹為檯浣嶇疆鍒ゆ柇鏄惁鍥炲锛岄粯璁�0锛�1鍚敤锛�0鍏抽棴
 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
+;鏄惁鍚姩瑙勫垝浣嶇疆鍒ゆ柇鏄惁鍥炲锛岄粯璁�1锛�1鍚敤锛�0鍏抽棴
 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
+;鍏抽棴鐢垫簮鏃惰浣忓綋鍓嶇殑浣嶇疆锛岀敤浜庡垽鏂槸鍚﹂渶瑕佸洖瀹�
 HOME_POS_AXIS_1=0
 HOME_POS_AXIS_2=0
 HOME_POS_AXIS_3=0
@@ -153,7 +153,7 @@ HOME_POS_AXIS_6=0
 HOME_POS_AXIS_7=0
 HOME_POS_AXIS_8=0
 
-;回家第一段速度(pulse/ms)
+;鍥炲绗竴娈甸�熷害(pulse/ms)
 HOME_HIGH_SPEED_1=200.0
 HOME_HIGH_SPEED_2=200.0
 HOME_HIGH_SPEED_3=200.0
@@ -163,7 +163,7 @@ 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)
+;鍥炲绗竴娈靛姞閫熷害(pulse/ms^2)
 HOME_HIGH_ACC_1=2.0
 HOME_HIGH_ACC_2=2.0
 HOME_HIGH_ACC_3=2.0
@@ -173,7 +173,7 @@ 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)
+;鍥炲绗簩娈甸�熷害(pulse/ms)
 HOME_LOW_SPEED_1=180.0
 HOME_LOW_SPEED_2=180.0
 HOME_LOW_SPEED_3=180.0
@@ -183,7 +183,7 @@ 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)
+;鍥炲绗簩娈靛姞閫熷害(pulse/ms^2)
 HOME_LOW_ACC_1=2.0
 HOME_LOW_ACC_2=2.0
 HOME_LOW_ACC_3=2.0
@@ -193,7 +193,7 @@ 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)
+;鍥炲寤舵椂鏃堕棿(ms)
 HOME_TIME_1=1000
 HOME_TIME_2=1000
 HOME_TIME_3=1000
@@ -204,7 +204,7 @@ 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姣斾緥璋冭妭,搴斾粠0.01閫掑寮�濮嬭皟璇�
 PID_KP_1=1.20
 PID_KP_2=1.20
 PID_KP_3=1.20
@@ -215,7 +215,7 @@ PID_KP_7=1.20
 PID_KP_8=1.20
 
 [PRECISION]
-;超时时间(0.1ms)
+;瓒呮椂鏃堕棿(0.1ms)
 PRECISION_TIME_1=20000
 PRECISION_TIME_2=20000
 PRECISION_TIME_3=20000
@@ -225,7 +225,7 @@ PRECISION_TIME_6=20000
 PRECISION_TIME_7=20000
 PRECISION_TIME_8=20000
 
-;回家误差脉冲个数
+;鍥炲璇樊鑴夊啿涓暟
 PRECISION_COUNT_1=8
 PRECISION_COUNT_2=8
 PRECISION_COUNT_3=8
@@ -236,7 +236,7 @@ PRECISION_COUNT_7=8
 PRECISION_COUNT_8=8
 
 [SET_POSITION_SPEED]
-;XYZ定位的合成速度(pulse/ms)
+;XYZ瀹氫綅鐨勫悎鎴愰�熷害(pulse/ms)
 SET_POTION_SPEED_1=500.0
 SET_POTION_SPEED_2=500.0
 SET_POTION_SPEED_3=500.0
@@ -246,7 +246,7 @@ 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)
+;XYZ瀹氫綅鐨勫悎鎴愬姞閫熷害(pulse/ms^2)
 SET_POTION_ACC_1=2.5
 SET_POTION_ACC_2=2.5
 SET_POTION_ACC_3=2.5
@@ -256,7 +256,7 @@ 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)
+;XYZ瀹氫綅鐨勭粓鐐归�熷害(pulse/ms)
 SET_POTION_DEC_1=1.0
 SET_POTION_DEC_2=1.0
 SET_POTION_DEC_3=1.0
@@ -266,7 +266,7 @@ 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
+;XYZ瀹氬埌浣嶅垽鏂鏁�
 SET_POSITION_COUNT_1=240
 SET_POSITION_COUNT_2=240
 SET_POSITION_COUNT_3=240
@@ -277,20 +277,20 @@ 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);
+;鐏厜鎺у埗鍣ㄧ被鍨嬮�夋嫨
+;0:鍚敤c++璋冪敤鐏厜,涓嶄娇鐢⊿TM32 USB鎺у埗鏃讹紝闇�瑕佹妸涓嬮潰鐨処S_STM32_USB鏀逛负0
+;1:wpf鐩存帴璋冪敤;
+;2:DP鍏夋簮鎺у埗鍣�;
+;3:鏃х殑6鐜�8鍖轰负3(鐜舰鍙皟);
+;4:鏂扮殑6鐜�8鍖轰负4(鎵囧尯鍙皟);
+;5:STM32鎺у埗鍣�,IP鍦板潃鍦╡xe鐩綍涓嬬殑CameraNum.ini涓慨鏀�
+;61:OPT鍏夋簮鎺у埗鍣ㄧ綉缁滄ā寮�(111ms),IP鍦板潃鍦╡xe鐩綍涓嬬殑CameraNum.ini涓慨鏀癸紝涓插彛妯″紡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
+;浣跨敤stm32鏃讹紝鏄惁浣跨敤USB閫氳锛屼娇鐢ㄨ鍔熻兘鏃讹紝COM_PORT_CPP_WPF蹇呴』绛変簬0
 IS_STM32_USB=0
 
-;是否打开第一个串，1为打开，0为关闭，默认0
+;鏄惁鎵撳紑绗竴涓覆锛�1涓烘墦寮�锛�0涓哄叧闂紝榛樿0
 IS_COM_PORT_A=0
 COM_PORT_A=2
 COM_PORT_A_LED_1=1
@@ -298,7 +298,7 @@ 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
+;鏄惁鎵撳紑绗簩涓覆锛�1涓烘墦寮�锛�0涓哄叧闂紝榛樿0
 IS_COM_PORT_B=0
 COM_PORT_B=6
 COM_PORT_B_LED_1=1
@@ -307,17 +307,17 @@ COM_PORT_B_LED_3=1
 COM_PORT_B_LED_4=1
 
 [TRRIGER]
-;线性点触发的脉冲宽度
+;绾挎�х偣瑙﹀彂鐨勮剦鍐插搴�
 LINEAR_PULSE_WIDTH=500
 
-;等间距触发的脉冲宽度
+;绛夐棿璺濊Е鍙戠殑鑴夊啿瀹藉害
 INTERVAL_PULSE_WIDTH=500
 
-;手动触发
+;鎵嬪姩瑙﹀彂
 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
+;鏄惁鎵撳紑璁板綍锛岄粯璁�0涓哄叧闂紝1浣嶆墦寮�,;LOG_IS_OPEN_0涓烘槸鍚︽墦寮�璁板綍鍔熻兘
 LOG_IS_OPEN_0=1
 LOG_IS_OPEN_1=1
 LOG_IS_OPEN_2=1
@@ -327,9 +327,9 @@ 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
+;鏄惁鍚敤缁熻瀹氫綅鍑芥暟鐨勬椂闂存棩蹇楋紝1锛氬惎鐢紝榛樿0鍏抽棴
 LOG2_IS_OPEN=0
-;定位几次后，计算这几次总共用时mm，默认4次
+;瀹氫綅鍑犳鍚庯紝璁＄畻杩欏嚑娆℃�诲叡鐢ㄦ椂mm锛岄粯璁�4娆�
 LOG_SUM_COUNT=0
 
 
diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini
index aeeaa9ab114ad6f379bd3cf57679b2330cbe43d4..ad11e48b22bee06f168c59495bbc9325b4056695 100644
GIT binary patch
delta 14
Vcmexn{mptqg$$$d=1Q4bMgTH(1)%@{

delta 14
Vcmexn{mptqg$$#~=1Q4bMgTH<1)=}|