1.修复 flyad.B2 开机速度写入 0xFFFFFFFF。 B2程序写错，手动速度 用了 扫描速度，且一开机写了0xFFFFFFFF，导致一开机手动正转，就会快过头，撞烂探头

2.优化 flyad.B2 使用批量写入，启动初始化从 2.4s 缩短到 1s

Project.FLY.FlyADBase/FlyAd2021.B2/FlyAd2021B2.cs

-using AutoMapper;
+#define ENABLE_MULTI_TRANS
+
+using AutoMapper;
 using FlyADBase.Inc;
 using FObjBase;
 using GeneralGommunication;
@@ -11,6 +13,8 @@ using System.ComponentModel;
 using System.IO;
 using System.Linq;
 
+
+
 namespace FlyADBase
 {
     public partial class FlyAd2021B2 : IFlyADClient
@@ -667,8 +671,9 @@ namespace FlyADBase
                 //从设备读取参数
 
                 //获取当前全部状态
-                //core.BuildMultiTrans(() =>
-                //{
+#if ENABLE_MULTI_TRANS
+                core.BuildMultiTrans(() =>{
+#endif
                     core.GetSysParam_Jog((asyncContext, retData) => JogVelocity = (UInt32)retData, null);
                     core.GetSysParam_Zero((asyncContext, retData) => PosOffset = (Int16)retData, null);
                     core.GetSysParam_MotorType((asyncContext, retData) => MotorType = (MOTORTYPE)retData, null);
@@ -681,26 +686,26 @@ namespace FlyADBase
                     core.GetRunParam_DecTime((asyncContext, retData) => DTime = (UInt32)retData, null);
                     core.GetRunParam_HSpd1((asyncContext, retData) => HVelocity1 = (UInt32)retData, null);
                     core.GetRunParam_HSpd2((asyncContext, retData) => HVelocity2 = (UInt32)retData, null);
-                //});
+#if ENABLE_MULTI_TRANS
+                    });
+#endif
             }
             else
             {
                 //参数不保存在设备中， 保存在电脑。
                 //参数写入到设备。
-                //core.BuildMultiTrans(() =>
-                //{
+#if ENABLE_MULTI_TRANS
+                core.BuildMultiTrans(() =>{
+#endif
                     core.SetSysParam_MotorType(MotorType, null, null);
                     core.SetSysParam_Ratio01(Ratio01, null, null);
                     core.SetSysParam_Ratio02(Ratio02, null, null);
                     core.SetSysParam_Zero(PosOffset, null, null);
                     core.SetSysParam_Jog(JogVelocity, null, null);
                     core.SetSysParam_Apply(null, null);
-                //});
-                //NotifyPropertyChanged(nameof(MotorType));
-                //NotifyPropertyChanged(nameof(Ratio01));
-                //NotifyPropertyChanged(nameof(Ratio02));
-                //NotifyPropertyChanged(nameof(PosOffset));
-                //NotifyPropertyChanged(nameof(JogVelocity));
+#if ENABLE_MULTI_TRANS
+                   });
+#endif
             }
 
             GetAccess();
@@ -710,13 +715,17 @@ namespace FlyADBase
             isReadyContext.Reset();
             sysTickContext.Reset();
             calSpeed.Reset();
-
+#if ENABLE_MULTI_TRANS
+            core.BuildMultiTrans(() =>{
+#endif
                 GetRunResult();
-
                 GetOut();
                 GetIn();
                 GetEnc1();
                 GetEnc2();
+#if ENABLE_MULTI_TRANS
+                });
+#endif
 
             advAfterContected();
 
@@ -887,37 +896,44 @@ namespace FlyADBase
         /// <param name="enable"></param>
         public void SetOutput(UInt16 mask, UInt16 enable)
         {
-            core.SetOutPorts(mask, enable, (asyncConetext, _retData) =>
-            {
+#if ENABLE_MULTI_TRANS
+            core.BuildMultiTrans(() =>{
+#endif
+            core.SetOutPorts(mask, enable, null, null);
                 GetOut();
-            }, null);
+#if ENABLE_MULTI_TRANS
+            });
+#endif
         }
 
-        #region 速度参数
+#region 速度参数
         /// <summary>
         /// 设置速度参数
         /// </summary>
-        /// <param name="velocity">runto 速度 pps</param>
         /// <param name="sv">开始速度 pps</param>
         /// <param name="atime">加速时间 ms</param>
         /// <param name="dtime">减速时间 ms</param>
         /// <param name="hspeed1">归0 第1段速 pps</param>
         /// <param name="hspeed2">归0 第2段速 pps</param>
-        public void SetPosParam(UInt32 velocity, UInt32 sv, UInt32 atime, UInt32 dtime, UInt32 hspeed1, UInt32 hspeed2)
+        public void SetPosParam(UInt32 sv, UInt32 atime, UInt32 dtime, UInt32 hspeed1, UInt32 hspeed2)
         {
-            core.SetRunParam_V(velocity, null, null);
+#if ENABLE_MULTI_TRANS
+            core.BuildMultiTrans(() =>{
+#endif
                 core.SetRunParam_SV(sv, null, null);
                 core.SetRunParam_AccTime(atime, null, null);
                 core.SetRunParam_DecTime(dtime, null, null);
                 core.SetRunParam_HSpd1(hspeed1, null, null);
                 core.SetRunParam_HSpd2(hspeed2, null, null);
 
-            core.GetRunParam_V((asyncContext, retData) => Velocity = (UInt32)retData, null);
                 core.GetRunParam_SV((asyncContext, retData) => SVelocity = (UInt32)retData, null);
                 core.GetRunParam_AccTime((asyncContext, retData) => ATime = (UInt32)retData, null);
                 core.GetRunParam_DecTime((asyncContext, retData) => DTime = (UInt32)retData, null);
                 core.GetRunParam_HSpd1((asyncContext, retData) => HVelocity1 = (UInt32)retData, null);
                 core.GetRunParam_HSpd2((asyncContext, retData) => HVelocity2 = (UInt32)retData, null);
+#if ENABLE_MULTI_TRANS
+                });
+#endif
         }
         /// <summary>
         /// 设置速度
@@ -925,9 +941,15 @@ namespace FlyADBase
         /// <param name="velocity"></param>
         public void SetVelocity(UInt32 velocity)
         {
+#if ENABLE_MULTI_TRANS
+            core.BuildMultiTrans(() =>{
+#endif
                 core.SetRunParam_V(velocity, null, null);
 
                 core.GetRunParam_V((asyncContext, retData) => Velocity = (UInt32)retData, null);
+#if ENABLE_MULTI_TRANS
+            });
+#endif
         }
 
 
@@ -999,9 +1021,9 @@ namespace FlyADBase
 
             core.Forw(126, null, null);
         }
-        #endregion
+#endregion
 
-        #endregion
+#endregion
     }
 
 

Project.FLY.FlyADBase/FlyAd2021.B2/Inc/IFlyAD.cs

@@ -125,13 +125,12 @@ namespace FlyADBase
         /// <summary>
         /// 设置速度参数
         /// </summary>
-        /// <param name="velocity">runto 速度 pps</param>
         /// <param name="sv">开始速度 pps</param>
         /// <param name="atime">加速时间 ms</param>
         /// <param name="dtime">减速时间 ms</param>
         /// <param name="hspeed1">归0 第1段速 pps</param>
         /// <param name="hspeed2">归0 第2段速 pps</param>
-        void SetPosParam(UInt32 velocity, UInt32 sv, UInt32 atime, UInt32 dtime, UInt32 hspeed1, UInt32 hspeed2);
+        void SetPosParam(UInt32 sv, UInt32 atime, UInt32 dtime, UInt32 hspeed1, UInt32 hspeed2);
         /// <summary>
         /// 设置速度
         /// </summary>