1. 添加 AD盒 脉冲不变 会触发“手动停止”状态

2. 修复 刚开机， 执行runto 且目标位置 与 当前位置一样时， 永远都不会IsFinish=TRUE

Project.FLY.FlyADBase/FlyADBase/FlyAD7.cs

@@ -348,7 +348,10 @@ namespace FlyADBase
         /// 用于检测当 为IsRunning时，脉冲是否停了很久。
         /// </summary>
         int last_position = int.MinValue;
-
+        /// <summary>
+        /// 脉冲不变化次数
+        /// </summary>
+        int position_no_changed_cnt = 0;
 
 
         TimeSpan NoTGridTimeOut = TimeSpan.FromSeconds(60);
@@ -366,7 +369,8 @@ namespace FlyADBase
         string jsonDbPath;
 
         DateTime lastTimeGridTime;
-        static FlyAD7() {
+        static FlyAD7()
+        {
             propertyName_save = FlyAD7JsonDb.GetMemberNames();
         }
         /// <summary>
@@ -380,7 +384,7 @@ namespace FlyADBase
         void constructor()
         {
             Now = DateTime.Now;
-            sysTickContext.BeReseted += () => BeResetTime = DateTime.Now;
+            //sysTickContext.BeReseted += () => BeResetTime = DateTime.Now;
 
             this.PropertyChanged += new PropertyChangedEventHandler(FlyAD7_PropertyChanged);
 
@@ -456,17 +460,33 @@ namespace FlyADBase
                 () =>
                 {
                     if (!IsConnected)
+                    {
+                        position_no_changed_cnt = 0;
                         return;
+                    }
+
                     if (DriveStatus != DRIVE_MAN_STATUS.RUNNING)
+                    {
+                        position_no_changed_cnt = 0;
                         return;
+                    }
 
                     if (Position != last_position)
                     {
                         last_position = Position;
+                        position_no_changed_cnt = 0;
                         return;
                     }
-
-                    if (driveman_wait.CheckMark(TimeSpan.FromSeconds(3)))//每3秒检查一次
+                    position_no_changed_cnt++;
+                    if (position_no_changed_cnt >= 10)
+                    {
+                        //连续10秒，脉冲一样
+                        //异常
+                        DriveStatus = DRIVE_MAN_STATUS.STOP_MANUAL;
+                        position_no_changed_cnt = 0;
+                        return;
+                    }
+                    if (driveman_wait.CheckMark(TimeSpan.FromSeconds(2)))//每2秒检查一次
                     {
                         driveman_wait.Mark();
                         CurrObjSys.GetValueEx(
@@ -593,7 +613,8 @@ namespace FlyADBase
                     ID,
                     FLYAD7_OBJ_INTERFACE.SYS_DATA_INTERFACE.GET_ZERO_POS);
             }
-            else {
+            else
+            {
                 //参数不保存在设备中， 保存在电脑。
                 //参数写入到设备。
                 NotifyPropertyChanged(nameof(MotorType));
@@ -682,7 +703,7 @@ namespace FlyADBase
             if (IsConnected)
             {
                 ConnectCnt++;
-
+                BeResetTime = DateTime.Now;
                 AfterConnected();
             }
             else
@@ -1454,7 +1475,7 @@ namespace FlyADBase
         /// <param name="velocity"></param>
         public void SetVelocity(UInt32 velocity)
         {
-            SetPosParam(velocity,UInt32.MaxValue, UInt32.MaxValue, UInt32.MaxValue, UInt32.MaxValue, UInt32.MaxValue);
+            SetPosParam(velocity, UInt32.MaxValue, UInt32.MaxValue, UInt32.MaxValue, UInt32.MaxValue, UInt32.MaxValue);
         }
 
         /// <summary>
@@ -1805,7 +1826,8 @@ namespace FlyADBase
         public int HardwareVersion = 2;
 
 
-        public static string[] GetMemberNames() {
+        public static string[] GetMemberNames()
+        {
             var type = typeof(FlyAD7JsonDb);
             return type.GetMembers().Select(mi => mi.Name).ToArray();
         }

Project.FLY.FlyADBase/FlyADBase/FlyADClientAdv.cs

@@ -50,7 +50,7 @@ namespace FlyADBase
         /// <summary>
         /// 动作完成
         /// </summary>
-        public bool IsFinish { get; set; }
+        public bool IsFinish { get; set; } = true;
 
         /// <summary>
         /// 机架修正