Revise SRDRotation stopPosition bug;

CyberX8_RT/Devices/AXIS/GalilRotation/GalilRotationAxis.cs

@@ -45,6 +45,10 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
         /// Stop Position
         /// </summary>
         private GalilRotationStopPositionRoutine _stopPositionRoutine;
+        /// <summary>
+        /// Axis StopOperation Locker
+        /// </summary>
+        private readonly object _stopOperationLocker = new object();
         #endregion
         /// <summary>
         /// 构造函数
@@ -87,12 +91,16 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
             {
                 return true;
             }
-            _currentOperation = MotionOperation.StopPosition;
-            if (_profilePositionRoutine.Monitor() == RState.Running)
+            lock (_stopOperationLocker)
             {
-                _profilePositionRoutine.Abort();
-            }
-            _status = _stopPositionRoutine.Start();            
+                _currentOperation = MotionOperation.StopPosition;              
+                if (_profilePositionRoutine.Monitor() == RState.Running)
+                {
+                    _profilePositionRoutine.Abort();
+                }
+                _status = _stopPositionRoutine.Start();
+            } 
+                     
             return true;
         }
 
@@ -242,18 +250,21 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
                 }
                 else if (_currentOperation == MotionOperation.StopPosition)
                 {
-                    RState state = _stopPositionRoutine.Monitor();
-                    if (state == RState.End)
+                    lock (_stopOperationLocker)
                     {
-                        EndOperation();
-                        _status = RState.End;
-                    }
-                    else if (state == RState.Failed || state == RState.Timeout)
-                    {
-                        EndOperation();
-                        _status = RState.Failed;
-                        LOG.WriteLog(eEvent.ERR_AXIS, $"{Module}.{Name}", "StopPosition error");
-                    }
+                        RState state = _stopPositionRoutine.Monitor();
+                        if (state == RState.End)
+                        {
+                            EndOperation();
+                            _status = RState.End;
+                        }
+                        else if (state == RState.Failed || state == RState.Timeout)
+                        {
+                            EndOperation();
+                            _status = RState.Failed;
+                            LOG.WriteLog(eEvent.ERR_AXIS, $"{Module}.{Name}", "StopPosition error");
+                        }
+                    }                    
                 }
             }
             JudgeRunMonitor();