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Dev/OHV/OHV.Module.Interactivity/PopUp/DriveServoViewModel.cs

@@ -150,6 +150,23 @@ namespace OHV.Module.Interactivity.PopUp
             set { this.SetProperty(ref this.autoReadyFlagColor, value); }
         }
 
+        private string  currentMCR;
+        public string  CurrentMCR
+        {
+            get { return currentMCR; }
+            set { this.SetProperty(ref this.currentMCR, value); }
+        }
+
+        private string currentTag;
+
+        public string CurrentTag
+        {
+            get { return currentTag; }
+            set { SetProperty(ref this.currentTag, value); }
+        }
+
+
+
 
         public DriveServoViewModel( IEventAggregator _ea, SqliteManager _sql, MessageController _messageController )
         {
@@ -228,17 +245,25 @@ namespace OHV.Module.Interactivity.PopUp
                             }
                             break;
                         case "CurrentTag":
+                            this.CurrentTag = CastTo<int>.From<object>( obj.Args ).ToString();
                             break;
+
                         case "CurrentSpeed":
                             break;
                         case "CurrentTorque":
                             break;
+
                         case "AutoReadyState":
                             {
                                 var ll = CastTo<eVehicleAutoReadyState>.From<object>(obj.Args);
                                 DriveAutoReadyState(ll);
                             }
                             break;
+
+                        case "CurrentMCR":
+                            CurrentMCR = CastTo<string>.From<object>( obj.Args );
+                            break;
+
                         default:
                             break;
                     }

Dev/OHV/VehicleControlSystem/ControlLayer/MQ/ZmqManager.cs

@@ -148,16 +148,13 @@ namespace VehicleControlSystem.ControlLayer.MQ
             set { SetField( ref this.rearRPM, value ); }
         }
 
-        private int currentMCR;
-        public int CurrentMCR
+        private string currentMCR;
+        public string CurrentMCR
         {
             get { return currentMCR; }
             set
             {
-                if ( SetField( ref this.currentMCR, value ) )
-                {
-                    Publish( "MCRValue", value.ToString() );
-                }
+                SetField( ref this.currentMCR, value );
             }
         }
 
@@ -472,6 +469,10 @@ namespace VehicleControlSystem.ControlLayer.MQ
                     }
                     break;
 
+                case "7121":
+                    this.CurrentMCR = vl[0];
+                    break;
+
                 case "111": //0=StartUp, 1=DeviceOpened, 2=DiviceOpenFailed, 3=ManualOP, 4=AutomaticOp, 5=DeviceCloseed, 6=Finished
                     break;
 
@@ -986,7 +987,19 @@ namespace VehicleControlSystem.ControlLayer.MQ
             }
         }
 
-#endregion
+        internal void SetQuickStop()
+        {
+            var rll = this.RequestDrive( "setm", $"4092/3" );
+            if ( rll.Count == 0 )
+            {
+                logger.E( $"[Set Drive Command] - Quick Stop Time Out" );
+                return;
+            }
+
+            logger.D( $"[Set Drive Command] - Set Quick Stop" );
+        }
+
+        #endregion
 
         #region Get/Set Parameter
         internal double GetJogSpeed()