优化 AD盒脉冲3秒不变化。 状态设置为手动停止

Project.FLY.FlyADBase/FlyADBase/FlyAD7.cs

@@ -348,14 +348,17 @@ 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);
         Stopwatch stopwatch_noTGrid = new Stopwatch();
 
 
-        
+
 
         IsReadyContext isReadyContext = new IsReadyContext();
         SysTickContext sysTickContext = new SysTickContext();
@@ -366,7 +369,8 @@ namespace FlyADBase
         string jsonDbPath;
 
         DateTime lastTimeGridTime;
-        static FlyAD7() {
+        static FlyAD7()
+        {
             propertyName_save = FlyAD7JsonDb.GetMemberNames();
         }
         /// <summary>
@@ -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 >= 3)
+                    {
+                        //连续3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));
@@ -658,7 +679,7 @@ namespace FlyADBase
                 ID,
                 FLYAD7_OBJ_INTERFACE.FLYIO_OBJ_INTERFACE.GET_IO);
 
-            
+
 
             NotifyPropertyChanged(nameof(Pos1LCShift));//写入到AD盒
             NotifyPropertyChanged(nameof(Pos2LCShift));//写入到AD盒
@@ -908,7 +929,7 @@ namespace FlyADBase
                             Position = pack.pos1;
                             DateTime dt = sysTickContext.ToDateTime(pack.systick);
                             Now = dt;
-                            
+
                             PositionChangedEvent?.Invoke(this, new PositionChangedEventArgs() { Time = dt, Position = Position });
                         }
                         calSpeed.SetPos1(Now, Position);
@@ -933,7 +954,7 @@ namespace FlyADBase
                             Position2 = pack.pos2;
                             DateTime dt = sysTickContext.ToDateTime(pack.systick);
                             Now = dt;
-                            
+
                             Position2ChangedEvent?.Invoke(this, new PositionChangedEventArgs() { Time = dt, Position = Position });
                         }
                         calSpeed.SetPos2(Now, Position2);
@@ -1158,7 +1179,7 @@ namespace FlyADBase
                     }
                     break;
             }
-            _end_push_info:
+        _end_push_info:
             bShieldSetValueEx = false;
         }
 
@@ -1183,7 +1204,7 @@ namespace FlyADBase
                             ID,
                             FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.CALL_PXX,
                             new FLYAD7_OBJ_INTERFACE.DRIVE_MAN_INTERFACE.Pack_CallRunto() { to = TargetPos }.ToBytes());
-                        
+
                     }
                     break;
                 case DRIVE_MAN_ORDER.ORIGIN:
@@ -1256,9 +1277,9 @@ namespace FlyADBase
             bool ret = FlyAD7JsonDb.Load(jsonDbPath, this);
             bShieldSetValueEx = false;
 
-            
+
             this.PropertyChanged += FlyAD7_PropertyChanged2;
-            
+
             return ret;
 
         }
@@ -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>
@@ -1477,7 +1498,7 @@ namespace FlyADBase
                 FLYAD7_OBJ_INTERFACE.SYS_DATA_INTERFACE.GET_SYSINFO);
 
         }
-        
+
         /// <summary>
         /// 初始化系统信息区
         /// </summary>
@@ -1789,12 +1810,12 @@ namespace FlyADBase
 
         //备份参数
         public bool IsDevParamValid = false;
-        public MOTORTYPE MotorType  = MOTORTYPE.SERVO;
+        public MOTORTYPE MotorType = MOTORTYPE.SERVO;
         public UInt16 PosOfGrid = 10;
         public UInt16 Ratio01 = 4;
         public UInt16 Ratio02 = 1;
         public Int16 PosOffset = 0;
-        public UInt32 JogVelocity  = 1000;
+        public UInt32 JogVelocity = 1000;
 
         /// <summary>
         /// 硬件版本
@@ -1805,8 +1826,9 @@ namespace FlyADBase
         public int HardwareVersion = 2;
 
 
-        public static string[] GetMemberNames() {
-            var  type = typeof(FlyAD7JsonDb);
+        public static string[] GetMemberNames()
+        {
+            var type = typeof(FlyAD7JsonDb);
             return type.GetMembers().Select(mi => mi.Name).ToArray();
         }