修复 timegrid每个数据是精确1.28ms，但中间会有数据丢失，导致每个数据包虽然是200个，间隔确不是200*1.28ms。

TimeGridAdvHelper 确保输出数列肯定是1.28ms，数据不够插值补齐

Project.FLY.FlyADBase/FlyADBase/FlyAD7.cs

@@ -71,7 +71,9 @@ namespace FlyADBase
         bool isReadyGetPos2 = false;
         bool isReadyGetIO = false;
 
-
+        static FlyAD7() {
+            propertyName_save = FlyAD7JsonDb.GetMemberNames();
+        }
         /// <summary>
         /// 
         /// </summary>
@@ -405,7 +407,7 @@ namespace FlyADBase
                 FLYAD7_OBJ_INTERFACE.FLYIO_OBJ_INTERFACE.GET_IO);
 
             NotifyPropertyChanged(nameof(Pos1LCShift));//写入到AD盒
-            NotifyPropertyChanged(nameof(Pos2Comp));//写入到AD盒
+
 
             SyncPos2Clear();
             SyncClear();
@@ -778,6 +780,11 @@ namespace FlyADBase
                         }
                         else if (version == 2)
                         {
+                            if (pack.inChange == 0)
+                            {
+                                //异常包，， 这个是AD盒的bug,  systick 是错的！！！！！ 不能让它通过
+                                return;
+                            }
                             IStatus = pack.istatus;
                             OStatus = pack.ostatus;
                             Position = pack.pos1;
@@ -1593,10 +1600,6 @@ namespace FlyADBase
                 }.ToBytes());
         }
 
-        /// <summary>
-        /// 纵向值补偿系数，补偿时，先乘除后加减 不应该有！！！
-        /// </summary>
-        public float Pos2Comp { get; set; } = 1;
 
         /// <summary>
         /// 纵向同步事件，0-1事件
@@ -1830,13 +1833,8 @@ namespace FlyADBase
         #endregion
         #endregion
 
-        private static string[] propertyName_save = new string[] {
-            nameof(LocalEP),
-            nameof(HasCRC),
-            nameof(GridSmooth),
-            nameof(IsCalSpeed),
-            nameof(ADLag)
-        };
+        private static string[] propertyName_save;
+
         string defaultPath = "flyad.json";
         private string jsonDbPath;
         public bool Load()
@@ -1851,6 +1849,15 @@ namespace FlyADBase
             this.PropertyChanged -= FlyAD7_PropertyChanged2;
             bool ret = FlyAD7JsonDb.Load(jsonDbPath, this);
             this.PropertyChanged += FlyAD7_PropertyChanged2;
+
+            MotorType = Backup_MotorType;
+            PosOfGrid = Backup_PosOfGrid;
+            Ratio01 = Backup_Ratio01;
+            Ratio02 = Backup_Ratio02;
+            PosOffset = Backup_PosOffset;
+            JogVelocity = Backup_JogVelocity;
+
+            
             return ret;
 
         }
@@ -1919,6 +1926,23 @@ namespace FlyADBase
         public int GridSmooth = 0;
         public bool IsCalSpeed = true;
         public int ADLag = 0;
+        public int PosMin = 0;
+        public int PosMax = 8900;
+        public bool HasPosMaxMin = false;
+
+        //备份参数
+        public MOTORTYPE Backup_MotorType  = MOTORTYPE.SERVO;
+        public UInt16 Backup_PosOfGrid = 10;
+        public UInt16 Backup_Ratio01 = 4;
+        public UInt16 Backup_Ratio02 = 1;
+        public Int16 Backup_PosOffset = 0;
+        public UInt32 Backup_JogVelocity  = 5000;
+
+        public static string[] GetMemberNames() {
+            var  type = typeof(FlyAD7JsonDb);
+            return type.GetMembers().Select(mi => mi.Name).ToArray();
+        }
+
     }
 
 

Project.FLY.FlyADBase/FlyADBase/FlyADClientAdv.cs

@@ -29,6 +29,32 @@ namespace FlyADBase
         /// 机架总长
         /// </summary>
         public int PosLen { get; set; } = 8900;
+
+        /// <summary>
+        /// 使用独立的脉冲最大最小值
+        /// </summary>
+        public bool HasPosMaxMin { get; set; }
+
+        /// <summary>
+        /// 最小脉冲，默认是0
+        /// </summary>
+        public int PosMin { get; set; } = 0;
+
+        /// <summary>
+        /// 最大脉冲，默认于PosLen 一样
+        /// </summary>
+        public int PosMax { get; set; } = 8900;
+
+        #region 备份参数
+        public MOTORTYPE Backup_MotorType { get; set; } = MOTORTYPE.SERVO;
+        public UInt16 Backup_PosOfGrid { get; set; } = 10;
+        public UInt16 Backup_Ratio01 { get; set; } = 4;
+        public UInt16 Backup_Ratio02 { get; set; } = 1;
+        public Int16 Backup_PosOffset { get; set; } = 0;
+        public UInt32 Backup_JogVelocity { get; set; } = 300;
+        #endregion
+
+
         public int GridLen => PosLen / PosOfGrid;
         /// <summary>
         /// Speed1 = Velocity * Speed1Scale
@@ -209,7 +235,10 @@ namespace FlyADBase
         /// </summary>
         public void RuntoMin()
         {
-            Runto(0);
+            if (HasPosMaxMin)
+                Runto(PosMin);
+            else
+                Runto(0);
         }
 
         /// <summary>
@@ -217,7 +246,10 @@ namespace FlyADBase
         /// </summary>
         public void RuntoMax()
         {
-            Runto(PosLen);
+            if (HasPosMaxMin)
+                Runto(PosMax);
+            else
+                Runto(PosLen);
         }
 
         /// <summary>
@@ -411,15 +443,14 @@ namespace FlyADBase
 
         void advPushTimeGrid(DateTime end_dt, int[] datas)
         {
-            double ts_ms = 1.28;
-            long ticks = (long)((ts_ms * datas.Length) * TimeSpan.TicksPerMillisecond);
+
 
             #region 高级 timegrid
             //TODO 
             mTimeGridAdvHelper.AddAD(end_dt - TimeSpan.FromMilliseconds(ADLag), datas);
 
-            if (isTimeToPushTimeGridAdv) {
-                isTimeToPushTimeGridAdv = false;
+            if (IsTimeToPushTimeGridAdv) {
+                IsTimeToPushTimeGridAdv = false;
 
                 if (TimeGridAdv2Event != null)
                 {
@@ -479,14 +510,19 @@ namespace FlyADBase
             #endregion
         }
 
-        bool isTimeToPushTimeGridAdv = false;
+        /// <summary>
+        /// 动作指令完成，准备推送 timegridadv 事件
+        /// </summary>
+        public bool IsTimeToPushTimeGridAdv = false;
+
+        
         void advPushStatus()
         {
             mTimeGridAdvHelper.AddDriveStatus(Now, DriveOrder, DriveStatus, Marker);
             if (DriveStatus != DRIVE_MAN_STATUS.RUNNING)
             {
                 //通知 mTimeGridAdvHelper 下次触发 timegridadv
-                isTimeToPushTimeGridAdv = true;
+                IsTimeToPushTimeGridAdv = true;
             }
         }
 

Project.FLY.FlyADBase/FlyADBase/IFlyAD.cs

@@ -285,10 +285,6 @@ namespace FlyADBase
         /// </summary>
         void SetPos2Offset(int offset);
 
-        /// <summary>
-        /// 纵向值补偿系数，补偿时，先乘除后加减
-        /// </summary>
-        float Pos2Comp { get; set; }
         /// <summary>
         /// 纵向同步事件，0-1事件
         /// </summary>

Project.FLY.FlyADBase/FlyADBase/IFlyADClientAdv.cs

@@ -100,11 +100,34 @@ namespace FlyADBase
         /// </summary>
         double Speed1Scale { get; }
 
+
+        #region 备份参数
+        MOTORTYPE Backup_MotorType { get; }
+        UInt16 Backup_PosOfGrid { get; }
+        UInt16 Backup_Ratio01 { get; }
+        UInt16 Backup_Ratio02 { get; }
+        Int16 Backup_PosOffset { get; }
+        UInt32 Backup_JogVelocity { get; }
+        #endregion
+
         /// <summary>
         /// 机架总长
         /// </summary>
         int PosLen { get; set; }
 
+        /// <summary>
+        /// 使用独立的脉冲最大最小值
+        /// </summary>
+        bool HasPosMaxMin { get; set; }
+        /// <summary>
+        /// 最小脉冲，默认是0
+        /// </summary>
+        int PosMin { get; set; }
+
+        /// <summary>
+        /// 最大脉冲，默认于PosLen 一样
+        /// </summary>
+        int PosMax { get; set; }
         /// <summary>
         /// Runto(0)， 不同于 Backward
         /// </summary>

Project.FLY.FlyADBase/FlyADBase/TimeGridAdvHelper.cs

@@ -17,7 +17,7 @@ namespace FlyADBase
     /// bool ret = mTimeGridAdvHelper.GetLastRunningTime(out DateTime beginTime, out DateTime endTime, out int marker, out DRIVE_MAN_ORDER order);
     /// 
     /// 获取 指定时间范围的 timegrid 数据
-    /// var adList = mTimeGridAdvHelper.GetTimeGrid(beginTime, endTime, out DateTime reponse_endTime);
+    /// var adList = mTimeGridAdvHelper.GetAD(beginTime, endTime, out DateTime reponse_endTime);
     ///
     /// 获取 指定时间范围的 pos 数据
     /// var posList = mTimeGridAdvHelper.GetPos(reponse_endTime,adList.Count());
@@ -40,6 +40,8 @@ namespace FlyADBase
         #region 一分钟数据缓存池, 目标每个AD数据（1.28ms） 都有对应的其它数据
         /// <summary>
         /// AD数据池时间间隔为1.28ms, 肯定最少有一个数据 
+        /// 每个数据包（200个数据）理论间隔是200*1.28ms， 但实际上不是。 
+        /// 数据输出时，输出的每个数据必须是1.28ms, 需要通过数据包的systick线性填充数据
         /// </summary>
         public List<DateTimeUnit3> ADPool = new List<DateTimeUnit3>();
 
@@ -64,7 +66,7 @@ namespace FlyADBase
         public List<DateTimeUnit4> DriveStatusPool = new List<DateTimeUnit4>();
         #endregion
 
-        DateTime NewestTime;
+        public DateTime NewestTime;
 
         /// <summary>
         /// 
@@ -87,21 +89,23 @@ namespace FlyADBase
                 return;
             //------------------------------------------------------------------------------------------
             //AD数据添加
-            DateTime dt = DateTime.MinValue;
+            //DateTime dt = DateTime.MinValue;
             ADPool.Add(new DateTimeUnit3() { dt = end_dt, datas = adArray});
 
             //long ticks = (long)((ts_ms * adArray.Count()) * TimeSpan.TicksPerMillisecond);
-            NewestTime = dt;
+            NewestTime = end_dt;
             LimitPool();
         }
         void LimitPool() 
         {
             LimitSimplePool(ADPool);
+            //LimitSimplePool_PosPool();
             LimitSimplePool(PosPool,1.5);
             LimitSimplePool(Pos2Pool, 1.5);
             LimitSimplePool(DriveStatusPool, 1.5);
             LimitSimplePool(IStatusPool, 1.5);
         }
+
         /// <summary>
         /// 
         /// </summary>
@@ -111,6 +115,8 @@ namespace FlyADBase
         void LimitSimplePool<T>(List<T> pool, double cap_min = 1) where T : IDateTimeUnit {
             if (NewestTime == DateTime.MinValue)
                 return;
+
+            //限制的时间
             var limitTime = NewestTime - TimeSpan.FromMinutes(cap_min);
             //删除Pos 数据池
             int removeCnt = 0;
@@ -186,12 +192,33 @@ namespace FlyADBase
                 if (pool.Last().dt > time)
                 {
                     //异常，把之前的数据删除
-                    pool.Clear();
+                    //TODO, AD盒有bug， IO 推送， 的systick 比 pos 的systick 要慢， 
+                    
+
+                    //正常的操作，全删除
+                    //pool.Clear();
+
+                    //数据插入就算了
+                    for (int i = 1; i < pool.Count(); i++) {
+                        int index = pool.Count() - 1 - i;
+                        if (time > pool[index].dt)
+                        {
+                            //找到了
+                            pool.Insert(index, new DateTimeUnit() { dt = time, data = data });
+                        }
+                        else if (time == pool[index].dt) {
+                            //什么都不干
+                            return;
+                        }
+                    }
+                    //找完了，不插了
                 }
                 else if (pool.Last().dt == time) 
                 {
                     //删除之前那个
-                    pool.RemoveAt(pool.Count() - 1);
+                    //pool.RemoveAt(pool.Count() - 1);
+
+                    return;
                 }
             }
             pool.Add(new DateTimeUnit() { dt = time, data = data });
@@ -480,17 +507,65 @@ namespace FlyADBase
         }
         public static List<int> GetAD(List<DateTimeUnit3> adPool)
         {
+            double t_ms = adPool.First().datas.Count() * ad_ts_ms;
+
+            DateTime begin = adPool.First().dt - TimeSpan.FromTicks((long)(t_ms * TimeSpan.TicksPerMillisecond));
+
+            return GetAD(adPool, begin);
+        }
+
+        static List<int> GetAD(List<DateTimeUnit3> adPool, DateTime begin)
+        {
+            var ts = TimeSpan.FromTicks((long)(ad_ts_ms * TimeSpan.TicksPerMillisecond));
+
             List<int> reponse = new List<int>();
+
+            DateTime lastTime = adPool.Last().dt;
+
+            //每个ad包的每个数据不是准确的1.28ms，肯定比1.28ms大，每次需要准确计算
             for (int i = 0; i < adPool.Count(); i++)
             {
-                reponse.AddRange(adPool[i].datas);
+                int idx = adPool.Count() - 1 - i;
+                double curr_ad_ts_ms = ad_ts_ms;
+                //计算这个包每个数据的时间间隔
+                DateTime end_dt = adPool[idx].dt;
+
+                if (idx > 0)
+                {
+                    var begin_dt = adPool[idx - 1].dt;
+                    double total_ms = (end_dt - begin_dt).Ticks / TimeSpan.TicksPerMillisecond;
+                    curr_ad_ts_ms = total_ms / adPool[idx].datas.Count();
+                }
+
+
+                double act_ms = 0;
+                double ideal_ms = 0;
+                for (int j = 0; j < adPool[idx].datas.Count(); j++)
+                {
+                    int idx2 = adPool[idx].datas.Count() - 1 - j;
+                    int ad = adPool[idx].datas[idx2];
+
+                    act_ms += curr_ad_ts_ms;
+                    while (ideal_ms < act_ms)
+                    {
+                        reponse.Add(ad);
+                        ideal_ms += ad_ts_ms;
+                        lastTime -= ts;
+                    }
+                    if (lastTime < begin)
+                        goto _end;//完成
+                }
             }
+            _end:
+            //反转
+            reponse.Reverse();
             return reponse;
 
-
         }
+
         /// <summary>
-        /// 
+        /// adPool 每个包内，数据间隔不为1.28ms，肯定比1.28ms大；
+        /// 输出的数据列，必须是 间隔为1.28ms
         /// </summary>
         /// <param name="adPool"></param>
         /// <param name="ad_ts_ms"></param>
@@ -501,44 +576,29 @@ namespace FlyADBase
         static List<int> GetAD(List<DateTimeUnit3> adPool, double ad_ts_ms, DateTime begin, DateTime end, out DateTime reponse_endTime)
         {
             reponse_endTime = DateTime.MinValue;
-            List<int> reponse = new List<int>();
 
-            long ticks = (long)(ad_ts_ms * TimeSpan.TicksPerMillisecond);
-            var ts = TimeSpan.FromTicks(ticks);
             var reponse2 = GetAD2(adPool, begin, end);
             if (reponse2.Count() == 0)
-                return reponse;
-
+                return new List<int>();
 
             DateTime lastTime = reponse2.Last().dt;
             reponse_endTime = lastTime;
 
-            for (int i = 0; i < reponse2.Count(); i++)
-            {
-                int idx = reponse2.Count() - 1 - i;
-                for (int j = 0; j < reponse2[idx].datas.Count(); j++)
-                {
-                    int idx2 = reponse2[idx].datas.Count() - 1 - j;
-                    int ad = reponse2[idx].datas[idx2];
-                    reponse.Add(ad);
-                    lastTime -= ts;
-                    if (lastTime < begin)
-                        goto _end;//完成
-                }
-            }
-            _end:
-            //反转
-            reponse.Reverse();
-            return reponse;
+            return GetAD(reponse2, begin);
         }
 
-        /// <summary>
 
+
+        /// <summary>
+        /// 获取 时间在 begin~end 的 AD数据包
         /// </summary>
+        /// <param name="adPool"></param>
+        /// <param name="begin"></param>
+        /// <param name="end"></param>
         /// <returns></returns>
         static List<DateTimeUnit3> GetAD2(List<DateTimeUnit3> adPool, DateTime begin, DateTime end)
         {
-            //获取 从 idxOfRunning 到 idxOfStop 时间段的 timegrid
+            //ad 包的总数量不可能多，从头找也没所谓
             List<DateTimeUnit3> reponse = new List<DateTimeUnit3>();
             for (int i = 0; i < adPool.Count(); i++)
             {
@@ -611,8 +671,16 @@ namespace FlyADBase
             int index = searchIndex(posPool, dt, searchIdx);
             searchIdx = index;
 
-            if (index < 0)
-                index = 0;
+            if (index == posPool.Count() - 1)
+            {
+                //发生在未来，返回最后一个脉冲，不进行线性预测
+                return posPool[index].data;
+            }
+            else if (index < 0) {
+                //发生在过去，返回第一个脉冲，不进行线性预测
+                return posPool[0].data;
+            }
+
 
             return GetPosLinear(posPool, dt, index);
         }