完成 flyad2021core

Project.FLY.FlyADBase/FLY.Simulation.Flyad7/FLYAD7.cs

@@ -642,6 +642,7 @@ namespace FLY.Simulation.Flyad7
         public int Speed { get; set; }
 
 
+
         public int AD { get; set; }
 
         public int ADMax

Project.FLY.FlyADBase/FlyADBase/FlyAD7.cs

@@ -306,6 +306,19 @@ namespace FlyADBase
                        pos1_LCShift = Pos1LCShift
                    }.ToBytes());
             }
+            else if (e.PropertyName == nameof(Pos2LCShift))
+            {
+
+                CurrObjSys.CallFunctionEx(
+                    conn,
+                    FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.ID,
+                    ID,
+                    FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
+                    new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_Pos2Shift()
+                    {
+                        pos2_shift = Pos2LCShift
+                    }.ToBytes());
+            }
         }
 
         void Init()
@@ -1042,6 +1055,17 @@ namespace FlyADBase
         /// </summary>
         public int Speed { get; private set; }
 
+        /// <summary>
+        /// 纵向脉冲速度, pps, 1秒脉冲数
+        /// </summary>
+        public int Speed2 { get; private set; }
+
+
+        /// <summary>
+        /// 纵向脉冲，也叫主轴脉冲
+        /// </summary>
+        public int Position2 { get; private set; }
+
         /// <summary>
         /// 1000ms从AD卡获取(或推送)1个AD值。此AD值只用于调试，定点
         /// </summary>
@@ -1528,95 +1552,19 @@ namespace FlyADBase
         /// </summary>
         public Int32 Marker { get; protected set; }
 
-        #region 横向脉冲
+
         /// <summary>
         /// 逻辑横向脉冲偏移  Pos1 + Pos1LCShift = Pos1LC
         /// </summary>
         public int Pos1LCShift { get; set; }
-
-        #endregion
-        #region 主轴脉冲
-
-        /// <summary>
-        /// 纵向脉冲速度, pps, 1秒脉冲数
-        /// </summary>
-        public int Speed2 { get; set; }
-
-
-        /// <summary>
-        /// 纵向脉冲，也叫主轴脉冲
-        /// </summary>
-        public int Position2 { get; private set; }
-
-        /// <summary>
-        /// 设置纵向位置
-        /// </summary>
-        /// <param name="postion2"></param>
-        [Obsolete("pos2 不应该被修改")]
-        public void SetPos2(int postion2)
-        {
-
-            CurrObjSys.CallFunctionEx(
-                conn,
-                FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.ID,
-                ID,
-                FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
-                new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_Pos2()
-                {
-                    pos2 = postion2
-                }.ToBytes());
-
-        }
         /// <summary>
-        /// 纵向偏移
+        /// 逻辑纵向脉冲偏移  Pos2 + Pos2LCShift = Pos2LC
         /// </summary>
-        public void SetPos2Offset(int offset)
-        {
-            CurrObjSys.CallFunctionEx(
-                conn,
-                FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.ID,
-                ID,
-                FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
-                new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_Pos2Shift()
-                {
-                    pos2_shift = offset
-                }.ToBytes());
-        }
+        public int Pos2LCShift { get; set; }
 
 
-        /// <summary>
-        /// 纵向同步事件，0-1事件
-        /// </summary>
-        /// <param name="pos2"></param>
-        /// <param name="immediately">只要是 01，就立刻修正</param>
-        [Obsolete("pos2 不应该被修改")]
-        public void SetPos2At01(int pos2, bool immediately)
-        {
-            CurrObjSys.CallFunctionEx(
-                conn,
-                FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.ID,
-                ID,
-                FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
-                new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_Pos2_01()
-                {
-                    pos2 = pos2,
-                    immediately = immediately
-                }.ToBytes());
-            LastPos2At01 = pos2;
-        }
-
-        #endregion
         #region 同步控制 同步状态转换规则
-        /// <summary>
-        /// 进入同步状态
-        /// </summary>
-        /// <param name="pos2"></param>
-        [Obsolete("pos2 不应该被修改")]
-        public void SyncBegin(int pos2)
-        {
-            Drive(DRIVE_MAN_ORDER.SYNC, pos2);
-            IsSync = true;
-        }
+
         /// <summary>
         /// 进入同步状态
         /// </summary>
@@ -1653,19 +1601,7 @@ namespace FlyADBase
             SyncOrders.Clear();
 
         }
-        /// <summary>
-        /// 清空POS2同步列表
-        /// </summary>
-        [Obsolete("pos2 不应该被修改")]
-        public void SyncPos2Clear()
-        {
-            CurrObjSys.CallFunctionEx(
-              conn,
-              FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.ID,
-              ID,
-              FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
-              new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_SyncPos2Clear().ToBytes());
-        }
+
         #endregion
         #region 同步扫描 脚本指令
 
@@ -1677,8 +1613,8 @@ namespace FlyADBase
         /// <param name="pos2_end"></param>
         /// <param name="pos1lc"></param>
         /// <param name="hasDataGrid"></param>
-        /// <param name="marker"></param>public void SyncRunAtLC(int pos2_begin, int pos2_end, int pos1lc, bool hasDataGrid, Int32 marker)
-        public void SyncRunAtLC(int pos2_begin, int pos2_end, int pos1lc, bool hasDataGrid, Int32 marker)
+        /// <param name="marker"></param>
+        public void SyncRunAtLC(int pos2lc_begin, int pos2lc_end, int pos1lc, bool hasDataGrid, Int32 marker)
         {
             CurrObjSys.CallFunctionEx(
                 conn,
@@ -1687,8 +1623,8 @@ namespace FlyADBase
                 FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
                 new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_SyncRunAtLC()
                 {
-                    pos2_begin = pos2_begin,
-                    pos2_end = pos2_end,
+                    pos2_begin = pos2lc_begin,
+                    pos2_end = pos2lc_end,
                     pos1lc = pos1lc,
                     hasDataGrid = hasDataGrid,
                     marker = marker
@@ -1696,8 +1632,8 @@ namespace FlyADBase
 
             SyncOrders.Add(new SyncOrder_SyncRunAtLC()
             {
-                Pos2Begin = pos2_begin,
-                Pos2End = pos2_end,
+                Pos2Begin = pos2lc_begin,
+                Pos2End = pos2lc_end,
                 Pos1LC = pos1lc,
                 HasDataGrid = hasDataGrid,
                 Marker = marker

Project.FLY.FlyADBase/FlyADBase/IFlyAD.cs

@@ -45,6 +45,16 @@ namespace FlyADBase
         /// </summary>
         int Speed { get; }
 
+        /// <summary>
+        /// 纵向脉冲，也叫主轴脉冲
+        /// </summary>
+        int Position2 { get; }
+
+        /// <summary>
+        /// 纵向速度
+        /// </summary>
+        int Speed2 { get; }
+
         /// <summary>
         /// 1000ms从AD卡获取(或推送)1个AD值。此AD值只用于调试，定点
         /// </summary>
@@ -73,11 +83,6 @@ namespace FlyADBase
         /// <param name="enable"></param>
         void SetOutput(UInt16 mask, UInt16 enable); 
 
-        /// <summary>
-        /// 读取参数, 全部！！！！
-        /// </summary>
-        void UpdateParam();
-
         #region 运动参数
         /// <summary>
         /// 设置 运动参数
@@ -86,7 +91,7 @@ namespace FlyADBase
         /// <param name="motortype">电机类型</param>
         /// <param name="ratio01">脉冲比例 分母(电机脉冲)</param>
         /// <param name="ratio02">脉冲比例 分子(编码器脉冲)</param>
-        void SetSysParam(UInt16 posOfGrid, MOTORTYPE motortype, UInt16 ratio01, UInt16 ratio02);
+        //void SetSysParam(UInt16 posOfGrid, MOTORTYPE motortype, UInt16 ratio01, UInt16 ratio02);
         /// <summary>
         /// 电机类型
         /// </summary>
@@ -267,54 +272,21 @@ namespace FlyADBase
         /// 同步用标示
         /// </summary>
         Int32 Marker { get; }
-        #region 横向脉冲
+
         /// <summary>
         /// 逻辑横向脉冲偏移  Pos1 + Pos1LCShift = Pos1LC
         /// </summary>
         int Pos1LCShift { get; set; }
-        #endregion
-        #region 主轴脉冲
-        /// <summary>
-        /// 纵向脉冲，也叫主轴脉冲
-        /// </summary>
-        int Position2 { get; }
-        /// <summary>
-        /// 纵向速度
-        /// </summary>
-        int Speed2 { get; }
 
         /// <summary>
-        /// 设置纵向位置
+        /// 逻辑纵向脉冲偏移  Pos2 + Pos2LCShift = Pos2LC
         /// </summary>
-        /// <param name="postion2"></param>
-        [Obsolete("pos2 不应该被修改")]
-        void SetPos2(int postion2);
+        int Pos2LCShift { get; set; }
 
-        /// <summary>
-        /// 纵向偏移,这个是相对量
-        /// </summary>
-        [Obsolete("pos2 不应该被修改")]
-        void SetPos2Offset(int offset);
-
-        /// <summary>
-        /// 纵向同步事件，0-1事件
-        /// </summary>
-        /// <param name="pos2"></param>
-        /// <param name="immediately">只要是 01，就立刻修正</param>
-        [Obsolete("pos2 不应该被修改")]
-        void SetPos2At01(int pos2, bool immediately);
-
-        #endregion
         #region 同步控制 同步状态转换规则
         /// <summary>
         /// 进入同步状态
         /// </summary>
-        /// <param name="pos2"></param>
-        [Obsolete("pos2 不应该被修改")]
-        void SyncBegin(int pos2);
-        /// <summary>
-        /// 进入同步状态
-        /// </summary>
         void SyncBegin();
         /// <summary>
         /// 退出同步状态
@@ -324,24 +296,19 @@ namespace FlyADBase
         /// 清空同步指令
         /// </summary>
         void SyncClear();
-        /// <summary>
-        /// 清空POS2同步列表
-        /// </summary>
-        [Obsolete("pos2 不应该被修改")]
-        void SyncPos2Clear();
         #endregion
         #region 同步扫描 脚本指令
 
         /// <summary>
         /// 同步扫描至;
-        /// D+0xE0+开始主轴位置+结束主轴位置+结束横向脉冲位置（逻辑位置）+脉冲开关（1B）+命令识标号（4B）
+        /// D+0xE0+开始主轴位置（逻辑位置）+结束主轴位置（逻辑位置）+结束横向脉冲位置（逻辑位置）+脉冲开关（1B）+命令识标号（4B）
         /// </summary>
-        /// <param name="pos2_begin"></param>
-        /// <param name="pos2_end"></param>
+        /// <param name="pos2lc_begin"></param>
+        /// <param name="pos2lc_end"></param>
         /// <param name="pos1lc"></param>
         /// <param name="hasDataGrid"></param>
         /// <param name="marker"></param>
-        void SyncRunAtLC(int pos2_begin, int pos2_end, int pos1lc, bool hasDataGrid, Int32 marker);
+        void SyncRunAtLC(int pos2lc_begin, int pos2lc_end, int pos1lc, bool hasDataGrid, Int32 marker);
 
 
         /// <summary>

Project.FLY.FlyADBase/FlyAd2021/FlyAd2021.csproj

@@ -42,10 +42,12 @@
     <Reference Include="WindowsBase" />
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="FlyAd2021Base.cs" />
+    <Compile Include="FlyAd2021Comm_SerialPort.cs" />
+    <Compile Include="FlyAd2021Core.cs" />
     <Compile Include="FlyAd2021.cs" />
-    <Compile Include="Inc\IFlyAd2021Base.cs" />
-    <Compile Include="PackEventArgs.cs" />
+    <Compile Include="FlyAd2021Comm_TcpClient.cs" />
+    <Compile Include="Inc\IFlyAd2021Comm.cs" />
+    <Compile Include="Inc\IFlyAd2021Core.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="ProtocolCommon.cs" />
   </ItemGroup>

Project.FLY.FlyADBase/FlyAd2021/FlyAd2021Comm_SerialPort.cs

+using FlyAd2021.Inc;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace FlyAd2021
+{
+    public class FlyAd2021Comm_SerialPort : IFlyAd2021Comm
+    {
+        /// <summary>
+        /// 串口号
+        /// </summary>
+        public string Addr { get; set; }
+
+        /// <summary>
+        /// 是否异常
+        /// </summary>
+        public bool IsError => !string.IsNullOrEmpty(ErrMsg);
+
+        /// <summary>
+        /// 异常信息
+        /// </summary>
+        public string ErrMsg { get; private set; }
+
+        /// <summary>
+        /// Open 成功
+        /// </summary>
+        public bool IsConnected { get; private set; }
+
+        /// <summary>
+        /// 运行中
+        /// </summary>
+        public bool IsRunning { get; private set; }
+
+        /// <summary>
+        /// 接收task调用
+        /// </summary>
+        public event Action<byte[]> RecMsg;
+
+        public event PropertyChangedEventHandler PropertyChanged;
+
+
+        SerialPort sp;
+        CancellationTokenSource cancellation;
+        CancellationTokenSource cancellation_waitforSend;
+
+        public FlyAd2021Comm_SerialPort() 
+        {
+            sp = new SerialPort();
+            sp.BaudRate = 115200 * 2; ;
+            sp.Parity = Parity.None;
+            sp.StopBits = StopBits.One;
+            
+        }
+
+        public void SendMsg(byte[] msg)
+        {
+            if (!IsConnected)
+                return;
+            try
+            {
+                sp.Write(msg, 0, msg.Length);
+                ErrMsg = null;
+            }
+            catch (Exception e) {
+                ErrMsg = e.Message;
+                IsConnected = false;
+            }
+        }
+
+        void OnTask()
+        {
+            while (!cancellation.IsCancellationRequested)
+            {
+                ConnectTask();
+
+                if (IsConnected)
+                {
+                    //进入接收task
+                    ReceiveTask();
+                }
+
+                //休息一会儿，在重连
+                try
+                {
+                    Task.Delay(2000, cancellation.Token).Wait();
+                }
+                catch (Exception e)
+                {
+                    //被打断了
+                    break;
+                }
+            }
+
+            IsConnected = false;
+        }
+        /// <summary>
+        /// 连接任务
+        /// </summary>
+        void ConnectTask()
+        {
+            sp.PortName = Addr;
+            
+            while (!cancellation.IsCancellationRequested)
+            {
+                try
+                {
+                    sp.Open();
+                    IsConnected = true;
+                    ErrMsg = null;
+                    return;
+                }
+                catch (Exception e)
+                {
+                    //连接出错
+                    //等待重试
+                    ErrMsg = e.Message;
+                }
+
+                try
+                {
+                    Task.Delay(2000, cancellation.Token).Wait();
+                }
+                catch (Exception e)
+                {
+                    //被打断
+                    return;
+                }
+            }
+        }
+
+        /// <summary>
+        /// 接收任务
+        /// </summary>
+        void ReceiveTask()
+        {
+            sp.DataReceived += Sp_DataReceived;
+
+            while (!cancellation.IsCancellationRequested)
+            {
+                if (!IsConnected)
+                    break;
+
+                try
+                {
+                    Task.Delay(1000, cancellation.Token).Wait();
+                }
+                catch (Exception e)
+                {
+                    //被打断了
+                    break;
+                }
+            }
+
+            sp.DataReceived -= Sp_DataReceived;
+        }
+
+
+        public void Start()
+        {
+            if (IsRunning)
+                return;
+            IsRunning = true;
+
+            sp.PortName = Addr;
+            cancellation = new CancellationTokenSource();
+            Task.Factory.StartNew(OnTask, cancellation.Token);
+        }
+
+        private void Sp_DataReceived(object sender, SerialDataReceivedEventArgs e)
+        {
+            int bytesToRead = sp.BytesToRead;
+            if (bytesToRead <= 0)
+                return;
+            byte[] recBuf = new byte[bytesToRead];
+            sp.Read(recBuf, 0, bytesToRead);
+            RecMsg?.Invoke(recBuf);
+        }
+
+        public void Stop()
+        {
+            if (!IsRunning)
+                return;
+            IsRunning = false;
+
+            cancellation.Cancel();
+            sp.Close();
+        }
+
+
+    }
+}

Project.FLY.FlyADBase/FlyAd2021/FlyAd2021Comm_TcpClient.cs

+using FlyAd2021.Inc;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace FlyAd2021
+{
+    /// <summary>
+    /// AD盒2021版，通讯模块，只负责 调用 核心模块 的Rec, Send
+    /// </summary>
+    public class FlyAd2021Comm_TcpClient : IFlyAd2021Comm
+    {
+        /// <summary>
+        /// IP 地址 and 端口号
+        /// </summary>
+        public string Addr { get; set; }
+
+        IPEndPoint RemoteEp => Misc.StringConverter.ToIPEndPoint(Addr);
+
+        /// <summary>
+        /// 是否异常
+        /// </summary>
+        public bool IsError => !string.IsNullOrEmpty(ErrMsg);
+
+        /// <summary>
+        /// 异常信息
+        /// </summary>
+        public string ErrMsg { get; private set; }
+
+        /// <summary>
+        /// 运行中
+        /// </summary>
+        public bool IsRunning { get; private set; }
+
+        /// <summary>
+        /// 连接成功
+        /// </summary>
+        public bool IsConnected { get; private set; }
+
+        /// <summary>
+        /// 接收task调用
+        /// </summary>
+        public event Action<byte[]> RecMsg;
+
+
+
+        public event PropertyChangedEventHandler PropertyChanged;
+
+        Socket sock;
+        CancellationTokenSource cancellation;
+        CancellationTokenSource cancellation_waitforSend;
+
+
+        public FlyAd2021Comm_TcpClient()
+        {
+
+        }
+        /// <summary>
+        /// 开始
+        /// </summary>
+        public void Start()
+        {
+            if (IsRunning)
+                return;
+            IsRunning = true;
+            cancellation = new CancellationTokenSource();
+
+            Task.Factory.StartNew(OnTask, cancellation.Token);
+        }
+
+        /// <summary>
+        /// 接收
+        /// </summary>
+        public void Stop()
+        {
+            if (!IsRunning)
+                return;
+            IsRunning = false;
+
+            cancellation.Cancel();
+            if (sock != null && sock.Connected)
+            {
+                sock.Close();
+                sock = null;
+            }
+        }
+
+        void OnTask()
+        {
+            while (!cancellation.IsCancellationRequested)
+            {
+                ConnectTask();
+
+                if (IsConnected)
+                {
+                    sendBuf.Clear();
+                    //启动发送task
+                    Task.Factory.StartNew(SendTask, cancellation.Token);
+
+                    //进入接收task
+                    ReceiveTask();
+                    //退出了，肯定连接断开了
+                }
+
+                //休息一会儿，在重连
+                try
+                {
+                    Task.Delay(2000, cancellation.Token).Wait();
+                }
+                catch (Exception e)
+                {
+                    //被打断了
+                    break;
+                }
+            }
+
+            IsConnected = false;
+        }
+
+        /// <summary>
+        /// 连接任务
+        /// </summary>
+        void ConnectTask()
+        {
+            sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+            sock.Blocking = true;
+
+
+
+            //1秒内，需要收到信息
+            sock.ReceiveTimeout = 1000;
+            //1秒内，必须发送完
+            sock.SendTimeout = 1000;
+
+            while (!cancellation.IsCancellationRequested)
+            {
+                try
+                {
+                    sock.Connect(RemoteEp);
+                    IsConnected = true;
+                    ErrMsg = null;
+                    return;
+                }
+                catch (SocketException e)
+                {
+                    //连接出错
+                    //等待重试
+                    ErrMsg = e.Message;
+                }
+                try
+                {
+                    Task.Delay(2000, cancellation.Token).Wait();
+                }
+                catch (Exception e)
+                {
+                    //被打断
+                    return;
+                }
+            }
+        }
+
+        /// <summary>
+        /// 接收任务
+        /// </summary>
+        void ReceiveTask()
+        {
+            byte[] buf = new byte[0x10000];
+            while (!cancellation.IsCancellationRequested)
+            {
+                int len;
+                try
+                {
+                    len = sock.Receive(buf);
+                    if (len == 0)
+                    {
+                        continue;//没收到数据，继续等
+                    }
+                }
+                catch (SocketException e)
+                {
+                    if (e.SocketErrorCode == SocketError.TimedOut)
+                        continue;//超时而已
+                    else if ((e.SocketErrorCode == SocketError.ConnectionAborted)
+                        || (e.SocketErrorCode == SocketError.ConnectionRefused)
+                        || (e.SocketErrorCode == SocketError.ConnectionReset))
+                    {
+                        IsConnected = false;
+                        return;
+                    }
+                    //Console.WriteLine($"ReceiveTask() {e}");
+                    //肯定断开连接了
+                    IsConnected = false;
+                    break;
+                }
+
+                RecMsg?.Invoke(buf.Take(len).ToArray());
+            }
+            if (sock != null)
+            {
+                sock.Close();
+            }
+            IsConnected = false;
+        }
+
+        /// <summary>
+        /// 发送任务
+        /// </summary>
+        void SendTask()
+        {
+            while (!cancellation.IsCancellationRequested)
+            {
+                while (sendBuf.Count > 0)
+                {
+                    int slen;
+                    try
+                    {
+                        slen = sock.Send(sendBuf.ToArray());
+                    }
+                    catch (Exception e)
+                    {
+                        //连接断开了
+                        IsConnected = false;
+                        break;
+                    }
+                    if (slen > 0)
+                        sendBuf.RemoveRange(0, slen);
+                    else if (slen <= 0)
+                    {
+                        //连接断开了
+                        IsConnected = false;
+                        break;
+                    }
+                }
+
+                //重新等 下次被呼醒
+                cancellation_waitforSend = new CancellationTokenSource();
+                try
+                {
+                    Task.Delay(-1, cancellation_waitforSend.Token).Wait();
+                }
+                catch (Exception e)
+                {
+                    //被打断， 有数据需要发送
+                }
+            }
+        }
+        /// <summary>
+        /// 无限大，发送缓存
+        /// </summary>
+        List<byte> sendBuf = new List<byte>();
+
+        /// <summary>
+        /// 发送数据
+        /// </summary>
+        /// <param name="msg"></param>
+        public void SendMsg(byte[] msg)
+        {
+            if (!IsConnected)
+                return;
+
+
+
+            //放入，发送缓存区
+            sendBuf.AddRange(msg);
+
+            //呼醒 发送task
+            cancellation_waitforSend.Cancel();
+        }
+    }
+
+}
+

Project.FLY.FlyADBase/FlyAd2021/FodyWeavers.xml

+<Weavers xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="FodyWeavers.xsd">
+  <PropertyChanged />
+</Weavers>
\ No newline at end of file

Project.FLY.FlyADBase/FlyAd2021/FodyWeavers.xsd

+<?xml version="1.0" encoding="utf-8"?>
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
+  <!-- This file was generated by Fody. Manual changes to this file will be lost when your project is rebuilt. -->
+  <xs:element name="Weavers">
+    <xs:complexType>
+      <xs:all>
+        <xs:element name="PropertyChanged" minOccurs="0" maxOccurs="1">
+          <xs:complexType>
+            <xs:attribute name="InjectOnPropertyNameChanged" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to control if the On_PropertyName_Changed feature is enabled.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="TriggerDependentProperties" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to control if the Dependent properties feature is enabled.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="EnableIsChangedProperty" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to control if the IsChanged property feature is enabled.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="EventInvokerNames" type="xs:string">
+              <xs:annotation>
+                <xs:documentation>Used to change the name of the method that fires the notify event. This is a string that accepts multiple values in a comma separated form.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="CheckForEquality" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to control if equality checks should be inserted. If false, equality checking will be disabled for the project.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="CheckForEqualityUsingBaseEquals" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to control if equality checks should use the Equals method resolved from the base class.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="UseStaticEqualsFromBase" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to control if equality checks should use the static Equals method resolved from the base class.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="SuppressWarnings" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to turn off build warnings from this weaver.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+            <xs:attribute name="SuppressOnPropertyNameChangedWarning" type="xs:boolean">
+              <xs:annotation>
+                <xs:documentation>Used to turn off build warnings about mismatched On_PropertyName_Changed methods.</xs:documentation>
+              </xs:annotation>
+            </xs:attribute>
+          </xs:complexType>
+        </xs:element>
+      </xs:all>
+      <xs:attribute name="VerifyAssembly" type="xs:boolean">
+        <xs:annotation>
+          <xs:documentation>'true' to run assembly verification (PEVerify) on the target assembly after all weavers have been executed.</xs:documentation>
+        </xs:annotation>
+      </xs:attribute>
+      <xs:attribute name="VerifyIgnoreCodes" type="xs:string">
+        <xs:annotation>
+          <xs:documentation>A comma-separated list of error codes that can be safely ignored in assembly verification.</xs:documentation>
+        </xs:annotation>
+      </xs:attribute>
+      <xs:attribute name="GenerateXsd" type="xs:boolean">
+        <xs:annotation>
+          <xs:documentation>'false' to turn off automatic generation of the XML Schema file.</xs:documentation>
+        </xs:annotation>
+      </xs:attribute>
+    </xs:complexType>
+  </xs:element>
+</xs:schema>
\ No newline at end of file

Project.FLY.FlyADBase/FlyAd2021/Inc/IFlyAd2021Comm.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FlyAd2021.Inc
+{
+    public interface IFlyAd2021Comm:INotifyPropertyChanged
+    {
+        /// <summary>
+        /// IP 地址 and 端口号
+        /// </summary>
+        string Addr { get; set; }
+
+        /// <summary>
+        /// 是否异常
+        /// </summary>
+        bool IsError { get; }
+
+        /// <summary>
+        /// 异常信息
+        /// </summary>
+        string ErrMsg { get; }
+
+        /// <summary>
+        /// 连接成功
+        /// </summary>
+        bool IsConnected { get; }
+
+
+        /// <summary>
+        /// 运行中
+        /// </summary>
+        bool IsRunning { get; }
+
+        /// <summary>
+        /// 开始
+        /// </summary>
+        void Start();
+
+        /// <summary>
+        /// 接收
+        /// </summary>
+        void Stop();
+
+        /// <summary>
+        /// 发送数据
+        /// </summary>
+        /// <param name="msg"></param>
+        void SendMsg(byte[] msg);
+
+
+        /// <summary>
+        /// 接收数据
+        /// </summary>
+        event Action<byte[]> RecMsg;
+        
+
+    }
+}

Project.FLY.FlyADBase/FlyAd2021/Inc/IFlyAd2021Base.cs → Project.FLY.FlyADBase/FlyAd2021/Inc/IFlyAd2021Core.cs

-using System;
+using FlyADBase;
+using System;
 using System.Collections.Generic;
 using System.ComponentModel;
 using System.Linq;
@@ -8,9 +9,10 @@ using System.Threading.Tasks;
 namespace FlyAd2021.Inc
 {
     /// <summary>
-    /// 实现基本的AD盒2021版 基本实现
+    /// AD盒2021版 , 核心模块 
+    /// 实现AD盒2021版 基本接口  
     /// </summary>
-    public interface IFlyAd2021Base : INotifyPropertyChanged
+    public interface IFlyAd2021Core : INotifyPropertyChanged
     {
         #region 测量速度
         bool IsMeasuring { get; }
@@ -36,8 +38,6 @@ namespace FlyAd2021.Inc
         void StopMeasure();
         #endregion
 
-
-
         /// <summary>
         /// 包出错次数
         /// </summary>
@@ -49,6 +49,14 @@ namespace FlyAd2021.Inc
         /// </summary>
         bool IsConnected { get; }
 
+        
+
+        #region 模块运行接口
+        /// <summary>
+        /// 超时判断，长时间收不到数据，会触发，0.5s调用一次
+        /// </summary>
+        void OnPoll_TimeOut();
+
         /// <summary>
         /// 在接收事件中调用；
         /// 全部接收事件 及 超时事件也是在这里触发
@@ -60,12 +68,27 @@ namespace FlyAd2021.Inc
         /// </summary>
         /// <returns></returns>
         byte[] GetSendMsg();
+        /// <summary>
+        /// 有数据需要发送
+        /// </summary>
+        /// <param name="sender"></param>
+        event SendMsgEventHander SendMsgEvent;
+
+        /// <summary>
+        /// 复位全部状态，通常由于通讯模块检测到连接断开导致的
+        /// </summary>
+        void ResetMsg();
+        #endregion
 
-       
+        #region AD盒 功能
         /// <summary>
         /// 数据推送事件
         /// </summary>
         event PushDataEventHandler PushDataEvent;
+        /// <summary>
+        /// 运行状态推送事件
+        /// </summary>
+        event PushRunResultEventHandler PushRunResultEvent;
         #region IOComm IO指令
 
         [CallBack(typeof(UInt16))]
@@ -89,31 +112,31 @@ namespace FlyAd2021.Inc
 
         #region RunComm 运行指令 SetRunParam
 
-        void SetRunParamV(UInt32 velocity, CallBackHandler asyncDelegate, object asyncContext);
+        void SetRunParam_V(UInt32 velocity, CallBackHandler asyncDelegate, object asyncContext);
 
-        void SetRunParamSV(UInt32 sv, CallBackHandler asyncDelegate, object asyncContext);
+        void SetRunParam_SV(UInt32 sv, CallBackHandler asyncDelegate, object asyncContext);
 
-        void SetRunParamAccTime(UInt32 accTime, CallBackHandler asyncDelegate, object asyncContext);
+        void SetRunParam_AccTime(UInt32 accTime, CallBackHandler asyncDelegate, object asyncContext);
 
-        void SetRunParamDecTime(UInt32 decTime, CallBackHandler asyncDelegate, object asyncContext);
+        void SetRunParam_DecTime(UInt32 decTime, CallBackHandler asyncDelegate, object asyncContext);
 
-        void SetRunParamHSpd1(UInt32 homespd1, CallBackHandler asyncDelegate, object asyncContext);
+        void SetRunParam_HSpd1(UInt32 homespd1, CallBackHandler asyncDelegate, object asyncContext);
 
-        void SetRunParamHSpd2(UInt32 homespd2, CallBackHandler asyncDelegate, object asyncContext);
+        void SetRunParam_HSpd2(UInt32 homespd2, CallBackHandler asyncDelegate, object asyncContext);
         #endregion
 
         #region RunComm 运行指令 GetRunParam
-        void GetRunParamV(CallBackHandler asyncDelegate, object asyncContext);
+        void GetRunParam_V(CallBackHandler asyncDelegate, object asyncContext);
 
-        void GetRunParamSV(CallBackHandler asyncDelegate, object asyncContext);
+        void GetRunParam_SV(CallBackHandler asyncDelegate, object asyncContext);
 
-        void GetRunParamAccTime(CallBackHandler asyncDelegate, object asyncContext);
+        void GetRunParam_AccTime(CallBackHandler asyncDelegate, object asyncContext);
 
-        void GetRunParamDecTime(CallBackHandler asyncDelegate, object asyncContext);
+        void GetRunParam_DecTime(CallBackHandler asyncDelegate, object asyncContext);
 
-        void GetRunParamHSpd1(CallBackHandler asyncDelegate, object asyncContext);
+        void GetRunParam_HSpd1(CallBackHandler asyncDelegate, object asyncContext);
 
-        void GetRunParamHSpd2(CallBackHandler asyncDelegate, object asyncContext);
+        void GetRunParam_HSpd2(CallBackHandler asyncDelegate, object asyncContext);
 
         #endregion
 
@@ -193,16 +216,74 @@ namespace FlyAd2021.Inc
         #endregion
 
         #region SysParamComm 系统参数指令
-        //[CallBack(typeof(UInt32))]
-        //void GetSysTick(CallBackHandler asyncDelegate, object asyncContext);
-        //void InitArea0()
+
+        /// <summary>
+        /// 获取系统当前Tick
+        /// </summary>
+        [CallBack(typeof(UInt32))]
+        void GetSysTick(CallBackHandler asyncDelegate, object asyncContext);
+
+        /// <summary>
+        /// 初始化系统信息区
+        /// </summary>
+        /// <param name="asyncDelegate"></param>
+        /// <param name="asyncContext"></param>
+        [CallBack(typeof(bool))]
+        void InitArea(CallBackHandler asyncDelegate, object asyncContext);
+
+        /// <summary>
+        /// 输入系统授权码
+        /// </summary>
+        /// <param name="access"></param>
+        /// <param name="asyncDelegate"></param>
+        /// <param name="asyncContext"></param>
+        [CallBack(typeof(AREA_ERR))]
+        void CheckAccessCode(byte[] access, CallBackHandler asyncDelegate, object asyncContext);
+
+        /// <summary>
+        /// 获取系统授权信息
+        /// </summary>
+        /// <param name="asyncDelegate"></param>
+        /// <param name="asyncContext"></param>
+        [CallBack(typeof(GetAccess_Reponse))]
+        void GetAccess(CallBackHandler asyncDelegate, object asyncContext);
+
+        /// <summary>
+        /// 系统运行时间+1
+        /// </summary>
+        /// <param name="asyncDelegate"></param>
+        /// <param name="asyncContext"></param>
+        void AddAccess(CallBackHandler asyncDelegate, object asyncContext);
         #endregion
         #region GetSysParam 读运行参数
+        [CallBack(typeof(MOTORTYPE))]
+        void GetSysParam_MotorType(CallBackHandler asyncDelegate, object asyncContext);
+
+        [CallBack(typeof(UInt16))]
+        void GetSysParam_Ratio01(CallBackHandler asyncDelegate, object asyncContext);
 
+        [CallBack(typeof(UInt16))]
+        void GetSysParam_Ratio02(CallBackHandler asyncDelegate, object asyncContext);
+
+        [CallBack(typeof(Int16))]
+        void GetSysParam_Zero(CallBackHandler asyncDelegate, object asyncContext);
+
+        [CallBack(typeof(UInt32))]
+        void GetSysParam_Jog(CallBackHandler asyncDelegate, object asyncContext);
         #endregion
 
         #region SetSysParam 设置运行参数
+        void SetSysParam_MotorType(MOTORTYPE motorType, CallBackHandler asyncDelegate, object asyncContext);
+
 
+        void SetSysParam_Ratio01(UInt16 ratio01, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetSysParam_Ratio02(UInt16 ratio02, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetSysParam_Zero(Int16 zero, CallBackHandler asyncDelegate, object asyncContext);
+
+        void SetSysParam_Jog(UInt32 jog, CallBackHandler asyncDelegate, object asyncContext);
+        #endregion
         #endregion
     }
 
@@ -224,6 +305,20 @@ namespace FlyAd2021.Inc
     }
     public delegate void PushDataEventHandler(object sender, PushDataEventArgs e);
 
+    public class PushRunResultEventArgs : EventArgs
+    {
+        public byte SysTick { get; set; }
+        /// <summary>
+        /// 运行序号
+        /// </summary>
+        public UInt32 Serial { get; set; }
+
+        /// <summary>
+        /// 运行状态
+        /// </summary>
+        public DRIVE_MAN_STATUS Status { get; set; }
+    }
+    public delegate void PushRunResultEventHandler(object sender, PushRunResultEventArgs e);
     /// <summary>
     /// 异常不回复
     /// </summary>
@@ -232,7 +327,7 @@ namespace FlyAd2021.Inc
     public delegate void CallBackHandler(object asyncContext, object retData);
 
 
-    public sealed class CallBackAttribute : Attribute
+    public class CallBackAttribute : Attribute
     {
         public Type RetType;
         public CallBackAttribute(Type type) 
@@ -241,14 +336,31 @@ namespace FlyAd2021.Inc
         }
     }
 
+    /// <summary>
+    /// 有数据需要发送
+    /// </summary>
+    /// <param name="sender"></param>
+    public delegate void SendMsgEventHander(object sender);
+
+
     public class GetEncAll_Reponse
     {
         public int pos1;
         public int pos2;
     }
+    
     public class GetRunResult_Reponse
     {
-        public byte result;
+        public DRIVE_MAN_STATUS result;
         public UInt32 serial;
     }
+
+    public class GetAccess_Reponse
+    {
+        public AREA_STATUS status;
+        public AREA_ERR ret;
+        public byte[] code = new byte[6];
+        public UInt16 surplus;
+        public byte[] access = new byte[8];
+    }
 }

Project.FLY.FlyADBase/FlyAd2021/PackEventArgs.cs

-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace FlyAd2021
-{
-    public class PackEventArgs : EventArgs
-    {
-        public PackEventArgs()
-        {
-
-        }
-
-        /// <summary>
-        /// 数据
-        /// </summary>
-        public List<byte> Pack { get; set; }
-        /// <summary>
-        /// 开始时间点
-        /// </summary>
-        public DateTime Time { get; set; }
-    }
-    public delegate void PackEventHandler(object sender, PackEventArgs e);
-}