根据实际平台轴定义，修改轴号；升级开发环境

2024-02-26 17:35:26 +08:00
parent 5815739a4c
commit e086e9cea3
23 changed files with 418 additions and 232 deletions
@@ -1,14 +1,12 @@

 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
-VisualStudioVersion = 15.0.34112.143
+# Visual Studio Version 17
+VisualStudioVersion = 17.7.34221.43
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HSI_HexagonMI_EF3", "HSI_HexagonMI_EF3\HSI_HexagonMI_EF3.vcxproj", "{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACS Motion", "Motion\ACS Motion\ACS Motion.csproj", "{19741897-37D8-43EE-94A2-637975035CEA}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HSI_CONTROLLER_WPFTest", "..\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_GOOGOL_GTS800_WPFTest\HSI_CONTROLLER_WPFTest.csproj", "{A21A5B56-EB1C-4377-9E76-141FAC055988}"
-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}"
@@ -29,13 +27,12 @@ Global
 		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|Any CPU.ActiveCfg = Debug|Win32
 		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x64.ActiveCfg = Debug|x64
 		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x64.Build.0 = Debug|x64
-		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x86.ActiveCfg = Debug|Win32
-		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x86.Build.0 = Debug|Win32
-		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|Any CPU.ActiveCfg = Release|Win32
+		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x86.ActiveCfg = Debug|x64
+		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Debug|x86.Build.0 = Debug|x64
+		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|Any CPU.ActiveCfg = Release|x64
 		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|x64.ActiveCfg = Release|x64
 		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|x64.Build.0 = Release|x64
-		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|x86.ActiveCfg = Release|Win32
-		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|x86.Build.0 = Release|Win32
+		{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}.Release|x86.ActiveCfg = Release|x64
 		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|Any CPU.ActiveCfg = Debug|x86
 		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|x64.ActiveCfg = Debug|x64
 		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|x86.ActiveCfg = Debug|x86
@@ -45,17 +42,6 @@ Global
 		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x64.Build.0 = Release|x64
 		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x86.ActiveCfg = Release|x86
 		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x86.Build.0 = Release|x86
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Debug|x64.ActiveCfg = Debug|x64
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Debug|x86.ActiveCfg = Debug|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Debug|x86.Build.0 = Debug|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Release|Any CPU.Build.0 = Release|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Release|x64.ActiveCfg = Release|x64
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Release|x64.Build.0 = Release|x64
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Release|x86.ActiveCfg = Release|Any CPU
-		{A21A5B56-EB1C-4377-9E76-141FAC055988}.Release|x86.Build.0 = Release|Any CPU
 		{DA01B86D-5BC1-4863-BAAC-71B309B09CC0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{DA01B86D-5BC1-4863-BAAC-71B309B09CC0}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{DA01B86D-5BC1-4863-BAAC-71B309B09CC0}.Debug|x64.ActiveCfg = Debug|Any CPU
@@ -21,12 +21,15 @@ static bool g_bOfflineOnly = false;
 //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
 //
 //
+// V0.1.10 2024/02/26
+//---------------------------------------
+//1、根据实际平台 电气层面轴定义，修改代码
 //
 //
-//
-//
-//
-//
+//轴名	电气层轴		左极限	右极限
+//X		1				- 30	730
+//Y		0				- 10	1000
+//Z		8				- 280	5
 //
 //
 //
@@ -21,7 +21,7 @@
 #endif

 const int HSI_APIVersionMajor = 1;
-const int HSI_APIVersionMinor = 9;
+const int HSI_APIVersionMinor = 10;
 const int HSI_MaxStringLength = 255; // Maximum string length (buffer size - 1)
 ///////////////////////////////////////////////////////////////////////////////
 // Interface API
@@ -375,7 +375,7 @@ enum HSI_MOTION_IO_TYPE
 };

 //const UINT HSI_MOTION_AXIS_ALL = HSI_MOTION_AXIS_X | HSI_MOTION_AXIS_Y | HSI_MOTION_AXIS_Z;
-const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_0 | ACSC_AXIS_1 | ACSC_AXIS_4;
+const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_1 | ACSC_AXIS_0 | ACSC_AXIS_8;

 enum HSI_MOTION_MOVE_TYPE
 {
@@ -1,18 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  <ItemGroup Label="ProjectConfigurations">
-    <ProjectConfiguration Include="Debug|Win32">
-      <Configuration>Debug</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
    <ProjectConfiguration Include="Debug|x64">
      <Configuration>Debug</Configuration>
      <Platform>x64</Platform>
    </ProjectConfiguration>
-    <ProjectConfiguration Include="Release|Win32">
-      <Configuration>Release</Configuration>
-      <Platform>Win32</Platform>
-    </ProjectConfiguration>
    <ProjectConfiguration Include="Release|x64">
      <Configuration>Release</Configuration>
      <Platform>x64</Platform>
@@ -22,36 +14,21 @@
    <ProjectGuid>{ECCF081D-DDA4-49D5-A03F-9DD5AB8B666B}</ProjectGuid>
    <Keyword>Win32Proj</Keyword>
    <RootNamespace>HSI_Sevenocean_EF3</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.19041.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
    <ProjectName>HSI_HexagonMI_EF3</ProjectName>
  </PropertyGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
-    <CharacterSet>Unicode</CharacterSet>
-    <UseOfMfc>Dynamic</UseOfMfc>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
-    <ConfigurationType>DynamicLibrary</ConfigurationType>
-    <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
    <CharacterSet>Unicode</CharacterSet>
    <UseOfMfc>Dynamic</UseOfMfc>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
    <ConfigurationType>DynamicLibrary</ConfigurationType>
    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
-    <WholeProgramOptimization>true</WholeProgramOptimization>
-    <CharacterSet>Unicode</CharacterSet>
-    <UseOfMfc>Dynamic</UseOfMfc>
-  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
-    <ConfigurationType>DynamicLibrary</ConfigurationType>
-    <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
    <WholeProgramOptimization>true</WholeProgramOptimization>
    <CharacterSet>Unicode</CharacterSet>
    <UseOfMfc>Dynamic</UseOfMfc>
@@ -62,35 +39,22 @@
  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="PropertySheets">
    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="PropertySheets">
    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
  </ImportGroup>
-  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="PropertySheets">
-    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
-  </ImportGroup>
  <PropertyGroup Label="UserMacros" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
    <LinkIncremental>true</LinkIncremental>
-    <IncludePath>\DirectXLib\Include;$(IncludePath)</IncludePath>
+    <IncludePath>C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\ucrt;\DirectXLib\Include;$(IncludePath)</IncludePath>
    <OutDir>$(MSBuildProjectDirectory)\$(Platform)\$(Configuration)\</OutDir>
    <IntDir>$(MSBuildProjectDirectory)\obj</IntDir>
  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <LinkIncremental>true</LinkIncremental>
-  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
    <LinkIncremental>false</LinkIncremental>
    <IncludePath>\DirectXLib\Include;$(IncludePath)</IncludePath>
  </PropertyGroup>
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <LinkIncremental>false</LinkIncremental>
-  </PropertyGroup>
  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
    <ClCompile>
-      <PrecompiledHeader>NotUsing</PrecompiledHeader>
      <WarningLevel>Level3</WarningLevel>
      <Optimization>Disabled</Optimization>
      <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;HSI_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
@@ -103,36 +67,10 @@
      <AdditionalDependencies>hid.lib;setupapi.lib;DirectXLib\lib\x64\d2d1.lib;DirectXLib\lib\x64\d3d9.lib;DirectXLib\lib\x64\d3d10.lib;DirectXLib\lib\x64\d3d10_1.lib;DirectXLib\lib\x64\d3d11.lib;DirectXLib\lib\x64\d3dcompiler.lib;DirectXLib\lib\x64\D3DCSX.lib;DirectXLib\lib\x64\d3dx9.lib;DirectXLib\lib\x64\d3dx10.lib;DirectXLib\lib\x64\d3dx11.lib;DirectXLib\lib\x64\d3dxof.lib;DirectXLib\lib\x64\dinput8.lib;DirectXLib\lib\x64\dsound.lib;DirectXLib\lib\x64\dwrite.lib;DirectXLib\lib\x64\DxErr.lib;DirectXLib\lib\x64\dxgi.lib;DirectXLib\lib\x64\dxguid.lib;DirectXLib\lib\x64\X3DAudio.lib;DirectXLib\lib\x64\xapobase.lib;DirectXLib\lib\x64\XAPOFX.lib;DirectXLib\lib\x64\XInput.lib;ACSCL_x64.LIB;%(AdditionalDependencies)</AdditionalDependencies>
      <ModuleDefinitionFile>
      </ModuleDefinitionFile>
-      <AdditionalLibraryDirectories>$(LocalDebuggerWorkingDirectory)\ACS;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>C:\Program Files (x86)\Windows Kits\10\Lib\10.0.17763.0\ucrt\x64;$(LocalDebuggerWorkingDirectory)\ACS;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
    </Link>
    <PostBuildEvent>
-      <Command>copy "$(TargetDir)$(ProjectName).dll" "$(SolutionDir)HSI_SEVENOCEAN_EF1_CsTest\bin\Debug\HSI.dll"
-copy "$(TargetDir)$(ProjectName).dll" "C:\Hexagon\Metus2020R1\HSI_Sevenocean_EF3.dll"
-copy "$(TargetDir)$(ProjectName).dll" "C:\Hexagon\Metus-7.10.1 967\HSI_Sevenocean_EF3.dll"
-copy "$(TargetDir)$(ProjectName).dll" "E:\HexagonProjects\2022-05-直线电机平台\EF3-Interfac\PcDmis\Base\Interfac\Msi\Hsi\Tools\UsbUtility\HSI_Sevenocean_EF1_WPFTest\bin\x64\Debug\HSI.dll"</Command>
-    </PostBuildEvent>
-    <PreBuildEvent>
-      <Command>version.cmd</Command>
-    </PreBuildEvent>
-  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
-    <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <WarningLevel>Level3</WarningLevel>
-      <Optimization>Disabled</Optimization>
-      <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;HSI_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-      <AdditionalIncludeDirectories>$ (ProjectDir)</AdditionalIncludeDirectories>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>;%(AdditionalDependencies)</AdditionalDependencies>
-      <ModuleDefinitionFile>.\HSI_Sevenocean_EF3.def</ModuleDefinitionFile>
-    </Link>
-    <PostBuildEvent>
-      <Command>xcopy "$(OutDir)\$(ProjectName).dll" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.dll/D /F /Y
-xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.pdb /D /F /Y</Command>
+      <Command>copy "$(TargetDir)$(ProjectName).dll" "$(SolutionDir)HSI_SEVENOCEAN_EF1_CsTest\bin\Debug\HSI.dll"</Command>
    </PostBuildEvent>
    <PreBuildEvent>
      <Command>version.cmd</Command>
@@ -157,24 +95,6 @@ xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.
      <AdditionalDependencies>hid.lib;setupapi.lib;DirectXLib\lib\x64\d2d1.lib;DirectXLib\lib\x64\d3d9.lib;DirectXLib\lib\x64\d3d10.lib;DirectXLib\lib\x64\d3d10_1.lib;DirectXLib\lib\x64\d3d11.lib;DirectXLib\lib\x64\d3dcompiler.lib;DirectXLib\lib\x64\D3DCSX.lib;DirectXLib\lib\x64\d3dx9.lib;DirectXLib\lib\x64\d3dx10.lib;DirectXLib\lib\x64\d3dx11.lib;DirectXLib\lib\x64\d3dxof.lib;DirectXLib\lib\x64\dinput8.lib;DirectXLib\lib\x64\dsound.lib;DirectXLib\lib\x64\dwrite.lib;DirectXLib\lib\x64\DxErr.lib;DirectXLib\lib\x64\dxgi.lib;DirectXLib\lib\x64\dxguid.lib;DirectXLib\lib\x64\X3DAudio.lib;DirectXLib\lib\x64\xapobase.lib;DirectXLib\lib\x64\XAPOFX.lib;DirectXLib\lib\x64\XInput.lib;%(AdditionalDependencies)</AdditionalDependencies>
    </Link>
  </ItemDefinitionGroup>
-  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
-    <ClCompile>
-      <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
-      <Optimization>MaxSpeed</Optimization>
-      <FunctionLevelLinking>true</FunctionLevelLinking>
-      <IntrinsicFunctions>true</IntrinsicFunctions>
-      <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;HSI_SEVENOCEAN_EF3_EXPORTS;HSI_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <SDLCheck>true</SDLCheck>
-    </ClCompile>
-    <Link>
-      <SubSystem>Windows</SubSystem>
-      <GenerateDebugInformation>true</GenerateDebugInformation>
-      <EnableCOMDATFolding>true</EnableCOMDATFolding>
-      <OptimizeReferences>true</OptimizeReferences>
-      <ModuleDefinitionFile>.\HSI_Sevenocean_EF3.def</ModuleDefinitionFile>
-    </Link>
-  </ItemDefinitionGroup>
  <ItemGroup>
    <ClInclude Include="ACS\ACSC.h" />
    <ClInclude Include="HSI.h" />
@@ -197,9 +117,7 @@ xcopy "$(OutDir)\$(ProjectName).pdb" ..\HSI_GOOGOL_GTS800_WPFTest\bin\Debug\HSI.
    <ClCompile Include="HSI_Sevenocean_EF3.cpp" />
    <ClCompile Include="stdafx.cpp">
      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
    </ClCompile>
  </ItemGroup>
  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
@@ -479,7 +479,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 				}
 #endif
 				//使能电机
-				int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1};
+				int Axes[] = {ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1}; //根据电气层面定义，这里的0对应X轴，1对应Y轴，8对应Z轴
 				if (!acsc_EnableM(handleACS, Axes, nullptr))
 				{
 					g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n");
@@ -1146,6 +1146,10 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 		m_WriteByte = Send_Command(0, (const char*)m_cSendData, 2);
 		Sleep(5);

+		//回家表示改为1
+		m_Home_Machine_Axis[1] = 1;
+		m_Home_Machine_Axis[0] = 1;
+		m_Home_Machine_Axis[8] = 1;
 		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
 		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n");
 	}
@@ -1510,10 +1514,10 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
 			return HSI_STATUS_NORMAL;
 		}

-		// 判断是否需要回家，读取ACS控制器回家标志位，来判断本次上电是否已经回过家
+		// 判断是否需要回家，读取ACS控制器回家标志位，来判断本次上电是否已经回过家 ， 1：已经回过家，0：未回过家
 		if (!acsc_ReadInteger(handleACS, ACSC_NONE, "YAW_HOME_DONE", ACSC_NONE, ACSC_NONE, ACSC_NONE, ACSC_NONE,
 		                      isHomed,
-		                      nullptr))
+		                      nullptr)) 
 		{
 			g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read ISHOMED Flag Error\n");
 			ErrorsHandler();
@@ -1527,7 +1531,7 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
 		                                isHomed[1], isHomed[2]);

 		//如果各个轴标志位 已经回过家
-		if (isHomed[0] == 2 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1)
+		if (isHomed[0] == 1 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1)
 		{
 			g_pLogger->SendAndFlushWithTime(L"[IsHomed] E_GTS_HOME_FINISHED\n");
 			CurrentHomeMachineState = E_EF3_HOME_FINISHED;
@@ -2506,7 +2510,7 @@ HSI_STATUS HSI_Motion::StopJog()
 			m_WriteByte = Send_Command(0, (const char*)m_SendJogData, m_SendDataLength);
 		}*/

-		int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1};
+		int Axes[] = {ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1};
 		if (handleACS != ACSC_INVALID)
 		{
 			if (!acsc_HaltM(handleACS, Axes, nullptr)) //停止JOG运动
@@ -2855,7 +2859,7 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double&
 			bGetPosition = false;
 			return HSI_ACS_ERROR;
 		}
-		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_4, &PositionZ, nullptr))
+		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_8, &PositionZ, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionZ failed\n");
 			ErrorsHandler();
@@ -3593,7 +3597,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P


 			//开始运动到指定位置，多轴运动
-			int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1,ACSC_AXIS_4, -1}; //需要运动的轴
+			int Axes[] = {ACSC_AXIS_1, ACSC_AXIS_0,ACSC_AXIS_8, -1}; //需要运动的轴
 			double Points[] = {PositionY, PositionX, PositionZ}; //目标位置点
 			if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr)) //移动到绝对位置
 			{
@@ -4394,9 +4398,9 @@ void HSI_Motion::UpdateMotionState()
 			g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Now wait Run End\n");

 			printf("\nWaiting for motion end\n");
+			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE);//依次等待 X,Y,Z轴运动到位
 			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE);
-			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE);
-			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_4, INFINITE);
+			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_8, INFINITE);
 			printf("\nMotion end\n");


@@ -5271,7 +5275,7 @@ HSI_STATUS HSI_Motion::AbortMotion() //
 		g_IsClose = true;
 		g_pLogger->SendAndFlushWithTime(L"[AbortMotion] In\n");

-		int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1};
+		int Axes[] = {ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1};
 		if (handleACS != ACSC_INVALID)
 		{
 			if (!acsc_HaltM(handleACS, Axes, nullptr)) //停止JOG运动
@@ -7923,7 +7927,7 @@ short HSI_Motion::AxisConvertIndex(UINT AxisTypes)
 		}
 	case HSI_MOTION_AXIS_Z:
 		{
-			AxisNumber = 0x04;
+			AxisNumber = 0x08;
 			break;
 		}
 	case HSI_MOTION_AXIS_R:
@@ -432,7 +432,7 @@ public:

 	short m_AxisThread;
 	int m_IsExMotion; //0是xyz用的，1是单轴用的，2都不用
-	int m_Home_Machine_Axis[5]; //用于启动时需要回原点的轴号选择
+	int m_Home_Machine_Axis[10]; //用于启动时需要回原点的轴号选择
 	int m_Home_Pos_Axis[5]; //记住关闭电源时的位置，用于判断是否还需要回原点
 	int m_IsHomeEncPos; //是否启动实际位置判断是否回家，默认0，1启用，0关闭
 	int m_IsHomePrfPos; //是否启动规划位置判断是否回家，默认1，1启用，0关闭
@@ -9,7 +9,9 @@
 #include <share.h>
 #include <stdio.h>
 #include <stdarg.h>
-
+#include "stdafx.h" 
+#include <locale.h>
+#include <string>
 using namespace std;
 const long LOGINIT = 0x0001;
 const long LOGACTIONS = 0x0002;
@@ -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          "2022.12.01 / 15:52 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.12.01 / 15:52 ")  
+#define HSI_FILE_DESCRIPTION          "2024.02.26 / 16:16 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2024.02.26 / 16:16 ")  
@@ -74,9 +74,9 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 				#endregion

 				//6 是否回家
-				//var bHomed = true;
-				//rStatus = Motion.IsHomed(ref bHomed);
-				//Console.WriteLine("Motion.IsHomed:{0}", rStatus);
+				var bHomed = true;
+				rStatus = Motion.IsHomed(ref bHomed);
+				Console.WriteLine("Motion.IsHomed:{0}", rStatus);
 				var bexit = false;
 				var SpeedGear = 0.2;
 				var dPos = new double[3];
@@ -80,7 +80,7 @@
 			this.tabPage1 = new System.Windows.Forms.TabPage();
 			this.formsPlot1 = new ScottPlot.FormsPlot();
 			this.tabPage2 = new System.Windows.Forms.TabPage();
-			this.sharpGLViewportControl1 = new HexcalMC.Base.SharpGLViewportControl();
+			this.openGLControl1 = new SharpGL.OpenGLControl();
 			this.elementHost1 = new System.Windows.Forms.Integration.ElementHost();
 			this.groupBox7 = new System.Windows.Forms.GroupBox();
 			this.groupBox1 = new System.Windows.Forms.GroupBox();
@@ -146,6 +146,7 @@
 			this.tabControl1.SuspendLayout();
 			this.tabPage1.SuspendLayout();
 			this.tabPage2.SuspendLayout();
+			((System.ComponentModel.ISupportInitialize)(this.openGLControl1)).BeginInit();
 			this.groupBox7.SuspendLayout();
 			this.groupBox1.SuspendLayout();
 			this.groupBox5.SuspendLayout();
@@ -635,7 +636,7 @@
 			// 
 			// tabPage2
 			// 
-			this.tabPage2.Controls.Add(this.sharpGLViewportControl1);
+			this.tabPage2.Controls.Add(this.openGLControl1);
 			this.tabPage2.Controls.Add(this.elementHost1);
 			this.tabPage2.Location = new System.Drawing.Point(4, 22);
 			this.tabPage2.Name = "tabPage2";
@@ -645,12 +646,21 @@
 			this.tabPage2.Text = "3D绘图";
 			this.tabPage2.UseVisualStyleBackColor = true;
 			// 
-			// sharpGLViewportControl1
+			// openGLControl1
 			// 
-			this.sharpGLViewportControl1.Location = new System.Drawing.Point(28, 16);
-			this.sharpGLViewportControl1.Name = "sharpGLViewportControl1";
-			this.sharpGLViewportControl1.Size = new System.Drawing.Size(699, 314);
-			this.sharpGLViewportControl1.TabIndex = 1;
+			this.openGLControl1.DrawFPS = false;
+			this.openGLControl1.Location = new System.Drawing.Point(10, 16);
+			this.openGLControl1.Name = "openGLControl1";
+			this.openGLControl1.OpenGLVersion = SharpGL.Version.OpenGLVersion.OpenGL2_1;
+			this.openGLControl1.RenderContextType = SharpGL.RenderContextType.DIBSection;
+			this.openGLControl1.RenderTrigger = SharpGL.RenderTrigger.TimerBased;
+			this.openGLControl1.Size = new System.Drawing.Size(724, 314);
+			this.openGLControl1.TabIndex = 1;
+			this.openGLControl1.Visible = false;
+			this.openGLControl1.OpenGLInitialized += new System.EventHandler(this.openGLControl1_OpenGLInitialized);
+			this.openGLControl1.OpenGLDraw += new SharpGL.RenderEventHandler(this.openGLControl1_OpenGLDraw);
+			this.openGLControl1.GDIDraw += new SharpGL.RenderEventHandler(this.openGLControl1_GDIDraw);
+			this.openGLControl1.Resized += new System.EventHandler(this.openGLControl1_Resized);
 			// 
 			// elementHost1
 			// 
@@ -1231,6 +1241,7 @@
 			this.tabControl1.ResumeLayout(false);
 			this.tabPage1.ResumeLayout(false);
 			this.tabPage2.ResumeLayout(false);
+			((System.ComponentModel.ISupportInitialize)(this.openGLControl1)).EndInit();
 			this.groupBox7.ResumeLayout(false);
 			this.groupBox1.ResumeLayout(false);
 			this.groupBox1.PerformLayout();
@@ -1355,6 +1366,6 @@
 		private System.Windows.Forms.TabPage tabPage2;
 		private ScottPlot.FormsPlot formsPlot1;
 		private System.Windows.Forms.Integration.ElementHost elementHost1;
-		private Base.SharpGLViewportControl sharpGLViewportControl1;
+		private SharpGL.OpenGLControl openGLControl1;
 	}
 }
@@ -1,46 +1,76 @@
 using System;
 using System.Collections.Generic;
 using System.IO;
-using System.Text;
 using System.Windows.Forms;
 using ACS.SPiiPlusNET;
 using HexcalMC.Base;
 using HexcalMC.Form;
 using HexcalMC.Hexcal;
 using HexcalMC.Properties;
+using SharpGL;
 using Telerik.WinControls.UI;

 namespace HexcalMC
 {
+	//定一个 回家状态枚举，包括 从未回家，正在回家，已经回家
+	public enum HomeStates
+	{
+		None, //默认状态
+		NotHome,
+		Homing,
+		Homed
+	}
+
+	//定义 运动状态枚举，包括 正在运动，运动到位，Jog运动
+	public enum MotionStates
+	{
+		None, //默认状态
+		Moving,
+		InPos,
+		Jogging
+	}
+
 	public partial class MainFrom : RadRibbonForm
 	{
+		private List<Point3D> _pointCloud = new List<Point3D>(); //运动中点集合
+
+
+
 		public MainFrom()
 		{
 			InitializeComponent();


-			var sharpGlViewportControl = new SharpGLViewportControl
-			{
-				Dock = DockStyle.Fill
-			};
+			#region  3D相关绘制，暂时取消

-			var tabPage = new TabPage("3D 窗口");
-			tabPage.Controls.Add(sharpGlViewportControl);
-			tabControl1.TabPages.Add(tabPage);
+			//var sharpGlViewportControl = new SharpGLViewportControl
+			//{
+			//	Dock = DockStyle.Fill
+			//};
+
+			//var tabPage = new TabPage("3D 窗口");
+			//tabPage.Controls.Add(sharpGlViewportControl);
+			//tabControl1.TabPages.Add(tabPage);
+
+			//// 设置容器控件的 DoubleBuffered 属性为 true
+			//DoubleBuffered = true;
+			//// 创建一个包含点云数据的列表
+			//var points = new List<Point3D>
+			//{
+			//	new Point3D(0, 0, 0),
+			//	new Point3D(1, 1, 1),
+			//	new Point3D(-1, -1, -1)
+			//	// 可以添加更多的点云数据
+			//};
+
+			//// 将点云数据传递给 SharpGLViewportControl
+			//sharpGlViewportControl.SetPointCloud(points);
+
+			tabControl1.TabPages.RemoveAt(1);
+
+			#endregion

-			// 设置容器控件的 DoubleBuffered 属性为 true
-			DoubleBuffered = true;
-			// 创建一个包含点云数据的列表
-			var points = new List<Point3D>
-			{
-				new Point3D(0, 0, 0),
-				new Point3D(1, 1, 1),
-				new Point3D(-1, -1, -1)
-				// 可以添加更多的点云数据
-			};

-			// 将点云数据传递给 SharpGLViewportControl
-			sharpGlViewportControl.SetPointCloud(points);
 		}

 		private void MainFrom_Load(object sender, EventArgs e)
@@ -52,22 +82,19 @@ namespace HexcalMC

 			//加载配置文件
 			LoadConfig();
-			double[] dataX = { 1, 2, 3, 4, 5 };
-			double[] dataY = { 1, 4, 9, 16, 25 };

-			formsPlot1.Plot.AddScatter(dataX, dataY);
-			formsPlot1.Refresh();

 			//启动界面刷新
 			timer_RefreshUI.Start();
-
-			//
 		}

 		private void MainFrom_Shown(object sender, EventArgs e) //窗体显示准备好接受用户输入时发生
 		{
 			//启动服务端,用于接收hexcal传来的指令
 			StartServer();
+
+	
+			//Plot3D();
 		}

 		private void MainFrom_FormClosed(object sender, FormClosedEventArgs e)
@@ -95,24 +122,58 @@ namespace HexcalMC
 				Errors.StatusWrite.Close();
 		}

-		//定一个 回家状态枚举，包括 从未回家，正在回家，已经回家
-		private enum HomeStates
+		private void LoadConfig() //加载配置文件
 		{
-			None, //默认状态
-			NotHome,
-			Homing,
-			Homed
+			//判断配置文件是否存在
+			if (!File.Exists(StrConfigFile))
+			{
+				MessageBox.Show("配置文件不存在，请检查配置文件", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				return;
+			}
+
+			//正限位
+			X_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MAXSTROKESW");
+			Y_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MAXSTROKESW");
+			Z_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MAXSTROKESW");
+
+			//负限位
+			X_MINSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MINSTROKESW");
+			Y_MINSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MINSTROKESW");
+			Z_MINSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Z_MINSTROKESW");
 		}

-		//定义 运动状态枚举，包括 正在运动，运动到位，Jog运动
-		private enum MotionStates
+		private void Plot2D(List<Point3D> pointCloud)
 		{
-			None, //默认状态
-			Moving,
-			InPos,
-			Jogging
+			// 清空画布
+			formsPlot1.Plot.Clear();
+
+			List<double> dataX = new List<double>();
+			List<double> dataY = new List<double>();
+
+			foreach (Point3D point3D in pointCloud)
+			{
+				dataX.Add(point3D.X);
+				dataY.Add(point3D.Y);
+			}
+
+			formsPlot1.Plot.AddScatter(dataX.ToArray(), dataY.ToArray());
+			formsPlot1.Refresh();
 		}

+		private void Plot3D() //绘制3D图
+		{
+			List<Point3D> points = new List<Point3D>();
+
+			// 假设已经有了一些点的数据，将其添加到 List<Point3D> 对象中
+			points.Add(new Point3D(1, 2, 3));
+			points.Add(new Point3D(4, 5, 6));
+
+			LoadPoints(points);
+		}
+
+
+
+
 		#region 运动平台变量区

 		private Api _acs;
@@ -139,15 +200,16 @@ namespace HexcalMC
 		private Label[] _mLblRightLimit; //右限位

 		private HomeStates _homeStates; //回家状态
-		private MotionStates _motionStates; //运动状态
-		private readonly int _motion_timeout = 5000; //定义运动超时时间
+		private MotionStates _currentMotionState; //当前运动状态
+		private readonly int _motionTimeout = 5000; //定义运动超时时间
+

 		public static Axis[] USE_AXIS =
 			{ Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_4, Axis.ACSC_NONE }; //定义启用的轴，后面运动时会使用


 		//定义 XYZ三个轴的左右行程范围
-		public string strConfigFile = Application.StartupPath + "\\File\\config.ini";
+		public string StrConfigFile = Application.StartupPath + "\\File\\config.ini";
 		public static double X_MAXSTROKESW = 100.0; //正限位
 		public static double Y_MAXSTROKESW = 50.0;
 		public static double Z_MAXSTROKESW = 10.0;
@@ -156,7 +218,6 @@ namespace HexcalMC
 		public static double Y_MINSTROKESW = -50.0;
 		public static double Z_MINSTROKESW = -10.0;

-
 		#endregion

 		#region hexcal变量区
@@ -230,6 +291,53 @@ namespace HexcalMC
 			}
 		}

+		public static string ConstructString(string variableName, double[] values)
+		{
+			string result = variableName + " ";
+			for (int i = 0; i < values.Length; i++)
+			{
+				result += values[i].ToString("F6");
+				if (i < values.Length - 1)
+				{
+					result += ", ";
+				}
+			}
+
+			return result;
+		}
+
+		public static string ConstructPosString(Point3D point)
+		{
+			double[] values = { point.X, point.Y, point.Z, 0.0, 0.0, 0.0, 0.0 };
+			return ConstructString("POS", values);
+		}
+
+		public static Point3D ParsePoint3DFromCommand(string input)
+		{
+			string[] parts = input.Split(' ')[1].Split(',');
+			if (parts.Length >= 3)
+			{
+				double x = double.Parse(parts[0]);
+				double y = double.Parse(parts[1]);
+				double z = double.Parse(parts[2]);
+				return new Point3D(x, y, z);
+			}
+
+			throw new ArgumentException("输入字符串格式不正确。");
+		}
+
+		private void CheckPlatformStatus()
+		{
+			if (_currentMotionState == MotionStates.None || _currentMotionState == MotionStates.InPos) //默认或到位
+			{
+				SendMsgToHexcal("READY");
+			}
+			else
+			{
+				SendMsgToHexcal("BUSY");
+			}
+		}
+
 		private void ParseHexcalMsg(string msg) //编写一个Hexcal协议解析函数
 		{
 			DebugDfn.AddLogText("正在解析" + msg);
@@ -240,16 +348,17 @@ namespace HexcalMC

 			if (msg.Contains("\x02") || msg.Contains("\u0002"))
 			{
-				// 发送 "READY" 字符串作为响应
-				byte[] response = Encoding.ASCII.GetBytes("READY");
-				SendMsgToHexcal("READY");
+				CheckPlatformStatus();
 			}
 			else if (msg.Contains("\x03") || msg.Contains("\u0003"))
 			{
-				// 发送 "READY" 字符串作为响应
-				byte[] response = Encoding.ASCII.GetBytes("READY");
-				SendMsgToHexcal("READY");
+				CheckPlatformStatus();
 			}
+			else if (msg.Contains("^B")) //查询状态, READY或BUSY
+			{
+				CheckPlatformStatus();
+			}
+
 			else if (msg.Contains("CMMTYP")) //测量机类型
 			{
 				SendMsgToHexcal("CMMTYP   MA 19617, FDC       V15.00,      6  6  2    , 0");
@@ -258,17 +367,22 @@ namespace HexcalMC
 			{
 				SendMsgToHexcal("00-000-000-00000 FDC V51.04.0000 DATE: 12/21/22 TIME: 12:50:55");
 			}
-			else if (msg.Contains("^B")) //查询状态, READY或BUSY
-			{
-				SendMsgToHexcal("READY");
-			}
+
 			else if (msg.Contains("SHOW MAXSTROKESW")) //最大行程,根据实际情况填写
 			{
-				SendMsgToHexcal("MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000");
+				//SendMsgToHexcal("MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000");
+
+				double[] values = { X_MAXSTROKESW, Y_MAXSTROKESW, Z_MAXSTROKESW, 0.0, 0.0, 0.0, 0.0 };
+				string resultString = ConstructString("MAXSTROKESW", values);
+				SendMsgToHexcal(resultString);
 			}
 			else if (msg.Contains("SHOW MINSTROKESW")) //最小行程,根据实际情况填写
 			{
-				SendMsgToHexcal("MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000");
+				//SendMsgToHexcal("MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000");
+
+				double[] values = { X_MINSTROKESW, Y_MINSTROKESW, Z_MINSTROKESW, 0.0, 0.0, 0.0, 0.0 };
+				string resultString = ConstructString("MINSTROKESW", values);
+				SendMsgToHexcal(resultString);
 			}
 			else if (msg.Contains("SHOW MAXVEL")) //最大速度
 			{
@@ -287,11 +401,11 @@ namespace HexcalMC
 			{
 				SendMsgToHexcal("X_SENSAXIS 6,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
 			}
-			else if (msg.Contains("SHOW Y_SENSAXIS")) //查询Y轴行程
+			else if (msg.Contains("SHOW Y_SENSAXIS")) //查询Y轴
 			{
 				SendMsgToHexcal("Y_SENSAXIS 2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
 			}
-			else if (msg.Contains("SHOW Z_SENSAXIS")) //查询Z轴行程
+			else if (msg.Contains("SHOW Z_SENSAXIS")) //查询Z轴
 			{
 				SendMsgToHexcal("Z_SENSAXIS 7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
 			}
@@ -352,17 +466,26 @@ namespace HexcalMC
 			else if (msg.Contains("AUTZER")) //回家指令
 			{
 				SendMsgToHexcal("%"); //收到并执行，同时状态改为忙碌
+
+				//执行回家
+				Ishome();
 			}
 			else if (msg.Contains("MOVABS")) //移动指令，解析移动位置 
 			{
-				//MOVABS 0.015000,127.172997,-114.897003,0.000000\r\n
-
-
+				//收到指令 ，形如 MOVABS 0.015000,127.172997,-114.897003,0.000000\r\n
 				SendMsgToHexcal("%");
+
+				Point3D point = ParsePoint3DFromCommand(msg);
+				SetPositionXyz(point); //开始移动
+
+				_pointCloud.Add(point); //添加到点集合
 			}
 			else if (msg.Contains("GETPOS")) //获取位置
 			{
-				SendMsgToHexcal("POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000");
+				//SendMsgToHexcal("POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000");
+				Point3D point3D = GetPositionXyz(); //获取当前位置
+				string resultString = ConstructPosString(point3D);
+				SendMsgToHexcal(resultString);
 			}
 			else
 			{
@@ -605,9 +728,9 @@ namespace HexcalMC
 			if (_acs != null && _mBConnected)

 			{
-				var yaw_home = _acs.ReadVariable("YAW_HOME_DONE");
+				var yawHome = _acs.ReadVariable("YAW_HOME_DONE");

-				if (yaw_home != null && (bool)yaw_home)
+				if (yawHome != null && (bool)yawHome)
 				{
 					//弹窗提示
 					MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -625,16 +748,18 @@ namespace HexcalMC

 					_acs.RunBuffer(ProgramBuffer.ACSC_BUFFER_6, null); //执行回家指令，这里的buffer6是回家指令的buffer
 					_homeStates = HomeStates.Homing;
-					_motionStates = MotionStates.Moving;
+					_currentMotionState = MotionStates.Moving;
+					DebugDfn.AddLogText("回家运动中");

 					//等待回家完成
 					for (int i = 0; i < USE_AXIS.Length; i++)
 					{
-						_acs.WaitMotionEnd(USE_AXIS[i], _motion_timeout); //等待回家完成
+						_acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成
 					}

 					_homeStates = HomeStates.Homed;
-					_motionStates = MotionStates.InPos;
+					_currentMotionState = MotionStates.InPos;
+					DebugDfn.AddLogText("回家完成");
 				}
 				else
 				{
@@ -649,28 +774,181 @@ namespace HexcalMC
 		{
 			//运动相关变量初始化
 			_homeStates = HomeStates.None;
-			_motionStates = MotionStates.None;
+			_currentMotionState = MotionStates.None;
+			_currentMotionState = MotionStates.None;

 			//轴启用，加电
 			_acs.EnableM(USE_AXIS);
+			for (int i = 0; i < USE_AXIS.Length; i++)
+			{
+				_acs.WaitMotorEnabled(USE_AXIS[i], 1, _motionTimeout); //等待电机使能
+			}
+
+			DebugDfn.AddLogText("电机已启用");

 			//回家
 			Ishome();
 		}

+		private bool IsWithinStrokes(Point3D point) //判断点是否在行程范围内
+		{
+			if (point.X >= X_MINSTROKESW && point.X <= X_MAXSTROKESW &&
+			    point.Y >= Y_MINSTROKESW && point.Y <= Y_MAXSTROKESW &&
+			    point.Z >= Z_MINSTROKESW && point.Z <= Z_MAXSTROKESW)
+			{
+				return true;
+			}
+
+			return false;
+		}

 		private void SetPositionXyz(Point3D point3D) //运动到指定位置
 		{
-			//判断 point3D是否合法
-			if(point3D)
+			if (!_mBConnected)
+			{
+				DebugDfn.AddLogText("ACS平台未连接,请先点击连接");
+				MessageBox.Show("ACS平台未连接,请先点击连接", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
+				return;
+			}
+
+			if (_currentMotionState != MotionStates.Moving)
+			{
+				_currentMotionState = MotionStates.Moving; //设置当前运动状态
+				//判断 point3D是否合法
+				if (point3D != null)
+				{
+					if (IsWithinStrokes(point3D)) //判断点是否在行程范围内
+					{
+						double[] pointsArray =
+						{
+							point3D.Y,
+							point3D.X,
+							point3D.Z
+						};
+
+						//执行运动指令
+						_acs.ToPointM(MotionFlags.ACSC_NONE, USE_AXIS, pointsArray); //多轴运动到指定位置
+
+						//等待运动完成
+						for (int i = 0; i < USE_AXIS.Length; i++)
+						{
+							_acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成
+						}
+
+						_currentMotionState = MotionStates.InPos;
+						DebugDfn.AddLogText("运动到位");
+					}
+					else
+					{
+						DebugDfn.AddLogText("目标位置超出行程范围，请重新设置");
+						MessageBox.Show("目标位置超出行程范围，请重新设置", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
+					}
+				}
+				else
+				{
+					DebugDfn.AddLogText("目标位置为空，请重新设置");
+					MessageBox.Show("目标位置为空，请重新设置", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				}
+			}
 		}

-		private void GetPositionXyz() //获取当前位置
+
+		private Point3D GetPositionXyz(int positionMode = 1) //获取当前位置
 		{
+			double xPosition = 0, yPosition = 0, zPosition = 0;
+			Point3D point3D = new Point3D(xPosition, yPosition, zPosition);
+			if (!_mBConnected)
+			{
+				DebugDfn.AddLogText("ACS平台未连接,请先点击连接");
+				MessageBox.Show("ACS平台未连接,请先点击连接", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
+				return point3D;
+			}
+
+			//获取当前位置, 两种 GetRPosition，GetFPosition
+			if (positionMode == 1)
+			{
+				//获取反馈位置 Feedback position (Encoder value) ACSPL+ Variable : FPO (real)
+				xPosition = _acs.GetFPosition(USE_AXIS[0]);
+				yPosition = _acs.GetFPosition(USE_AXIS[1]);
+				zPosition = _acs.GetFPosition(USE_AXIS[2]);
+				DebugDfn.AddLogText("反馈位置: " + xPosition + " " + yPosition + " " + zPosition);
+			}
+			else
+			{
+				//获取参考位置 ACSPL+ Variable : RPOS (real)
+				xPosition = _acs.GetRPosition(USE_AXIS[0]);
+				yPosition = _acs.GetRPosition(USE_AXIS[1]);
+				zPosition = _acs.GetRPosition(USE_AXIS[2]);
+				DebugDfn.AddLogText("参考位置: " + xPosition + " " + yPosition + " " + zPosition);
+			}
+
+			//获取位置误差
+			double positionError = (double)_acs.ReadVariable("PE", ProgramBuffer.ACSC_NONE, 0, 2);
+			DebugDfn.AddLogText("位置误差: " + positionError);
+
+			//构造point3D格式
+			point3D = new Point3D(xPosition, yPosition, zPosition);
+
+			return point3D;
 		}

 		private void GetSpeedXyz() //获取运动参数
 		{
+			//获取实际速度
+			double feedbackVelocity = (double)_acs.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, 0, 2);
+			DebugDfn.AddLogText("实际速度: " + feedbackVelocity);
+		}
+
+		private void openGLControl1_OpenGLDraw(object sender, SharpGL.RenderEventArgs args)
+		{
+			OpenGL gl = openGLControl1.OpenGL;
+
+			gl.ClearColor(0, 0, 0, 0);
+			gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
+
+			gl.LoadIdentity();
+			//gl.Translate(0.0f, 0.0f, -5.0f);  // 平移场景
+
+		}
+
+		private void LoadPoints(List<Point3D> points)
+		{
+			OpenGL gl = openGLControl1.OpenGL;
+
+			gl.ClearColor(0, 0, 0, 0);
+			gl.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT);
+
+			gl.LoadIdentity();
+			//gl.Translate(0.0f, 0.0f, -5.0f);  // 平移场景
+
+			gl.Begin(OpenGL.GL_POINTS);
+			foreach (Point3D point in points)
+			{
+				// 设置点的颜色
+				gl.Color(1.0f, 0.0f, 0.0f); // 红色
+
+				// 设置点的大小
+				gl.PointSize(5.0f); // 大小为5个单位
+				gl.Vertex(point.X, point.Y, point.Z);
+			}
+			gl.End();
+
+			gl.Flush();
+		}
+
+		private void openGLControl1_OpenGLInitialized(object sender, EventArgs e)
+		{
+
+		}
+
+		private void openGLControl1_Resized(object sender, EventArgs e)
+		{
+
+		}
+
+		private void openGLControl1_GDIDraw(object sender, SharpGL.RenderEventArgs args)
+		{
+
 		}

 		private void SetSpeedXyz() //设置运动参数
@@ -680,25 +958,6 @@ namespace HexcalMC

 		#endregion ACS平台相关

-		private void LoadConfig() //加载配置文件
-		{
-			//判断配置文件是否存在
-			if (!File.Exists(strConfigFile))
-			{
-				MessageBox.Show("配置文件不存在，请检查配置文件", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
-				return;
-			}
-			//正限位
-			X_MAXSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "X_MAXSTROKESW", 0);
-			Y_MAXSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Y_MAXSTROKESW", 0);
-			Z_MAXSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Z_MAXSTROKESW", 0);
-
-			//负限位
-			X_MINSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "X_MINSTROKESW", 0);
-			Y_MINSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Y_MINSTROKESW", 0);
-			Z_MINSTROKESW = FileIni.ReadDouble(strConfigFile, "MOTOR", "Z_MINSTROKESW", 0);
-		}
-
 		#region 菜单栏

 		private void Rtb_motion_Click(object sender, EventArgs e) //ACS调试页面
@@ -723,6 +982,8 @@ namespace HexcalMC
 			//时间栏
 			//获取当前时间，构造形如 精确到秒,例如 2023-10-08 16:01:23
 			rle_timer.Text = "当前时间: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+
+			Plot2D(_pointCloud);//绘图
 		}

 		#endregion 菜单栏
@@ -46,6 +46,7 @@ namespace HexcalMC
 			MyBase.TraceWriteLine("--软件Main函数开始");

 			Application.Run(new MainFrom());
+
 		}
 	}
 }
@@ -1,11 +1,11 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <configuration>
-<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2" /></startup>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.2"/></startup>
  <runtime>
    <assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
      <dependentAssembly>
-        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
-        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
+        <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral"/>
+        <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0"/>
      </dependentAssembly>
    </assemblyBinding>
  </runtime>