添加轴状态函数

source/DeviceLibrary/baan/AxisBean.cs

@@ -148,7 +148,10 @@ namespace OnlineStore.DeviceLibrary
             bool isOk = AxisManager.instance.GetBusyStatus(deviceName, axisNo).Equals(0) && AxisManager.instance.GetInPositionSingle(deviceName, axisNo).Equals(1);
             bool isOk = AxisManager.instance.GetBusyStatus(deviceName, axisNo).Equals(0) && AxisManager.instance.GetInPositionSingle(deviceName, axisNo).Equals(1);
             int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
             int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
             int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo);
             int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo);
-            int errorCount = Math.Abs(outCount - targetPosition);
+            int errorCount = Math.Abs(outCount - targetPosition); 
+            string state = AxisManager.instance.GetStatus(deviceName, axisNo);
+            //实时打印轴状态
+            LogUtil.info($" {MoveInfo.SLog}{MoveInfo.Name}{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]规划位置[{targetCount}]轴状态[{state}]");
             if (isOk)
             if (isOk)
             {
             {
                 if (errorCount <= axis.CanErrorCountMax)
                 if (errorCount <= axis.CanErrorCountMax)
@@ -265,7 +268,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             if (targetPos.Equals(-1))
             if (targetPos.Equals(-1))
             {
             {
-                return;
+                return false;
             }
             }
             LastPosition = -1;
             LastPosition = -1;
             if (targetSpeed > (Config.TargetSpeed * 10) || targetSpeed <= 0)
             if (targetSpeed > (Config.TargetSpeed * 10) || targetSpeed <= 0)

source/DeviceLibrary/deviceLibrary/AXIS/AxisManager.cs

-using OnlineStore.Common;
+
+using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
@@ -40,7 +41,7 @@ namespace OnlineStore.DeviceLibrary
         public abstract bool OpenCard();
         public abstract bool OpenCard();
         public abstract bool CloseCard();
         public abstract bool CloseCard();
 
 
-
+        public abstract string GetStatus(string portName, short slvAddr);
         public abstract bool IsHomeMoveEnd(string portName, short slvAddr);
         public abstract bool IsHomeMoveEnd(string portName, short slvAddr);
 
 
         public abstract bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError);
         public abstract bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError);

source/DeviceLibrary/deviceLibrary/AXIS/HC/HCAxisManager.cs

@@ -74,7 +74,16 @@ namespace OnlineStore.DeviceLibrary
           AxisSts axisS=  HCBoardManager.GetAxisSts(slvAddr);
           AxisSts axisS=  HCBoardManager.GetAxisSts(slvAddr);
             return axisS.ALM;
             return axisS.ALM;
         }
         }
-
+        /// <summary>
+        /// 获取轴状态
+        /// </summary>
+        /// <param name="portName"></param>
+        /// <param name="slvAddr"></param>
+        /// <returns></returns>
+        public override string GetStatus(string portName, short slvAddr)
+        {
+             return HCBoardManager.GetAxisSts(slvAddr).ToStr();
+        }
         public override int GetBusyStatus(string portName, short slvAddr)
         public override int GetBusyStatus(string portName, short slvAddr)
         {
         {
             AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
             AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -313,21 +313,6 @@ namespace OnlineStore.DeviceLibrary
                         else
                         else
                         {
                         {
                             wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
                             wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
-                            //try
-                            //{
-                            //    if (wait.AxisInfo.Explain.Equals("料斗拉取进出轴"))
-                            //    {
-                            //        short axisNo = wait.AxisInfo.GetAxisValue();
-                            //        preTor = curTor;
-                            //        curTor = ((HCAxisManager)AxisManager.instance).GetAxActTorq(axisNo);
-                            //        if (!preTor.Equals(curTor))
-                            //            LogUtil.info($"料斗拉取进出轴 扭矩：{curTor}");
-                            //    }
-                            //}
-                            //catch (Exception e)
-                            //{
-                            //    LogUtil.error("获取料斗拉取进出轴轴距失败", e);
-                            //}
                         }
                         }
                         if (!msg.Equals(""))
                         if (!msg.Equals(""))
                         {
                         {