public WebApiService()
{
InitializeComponent();
BasicLog.writeLog("WebApi: Start");
Program.mControl = new MotionControl();
BasicLog.writeLog(string.Format("Motion Control {0} configured", Program.mControl.appConfigured ? "is" : "is not"));
}
public void OutputBit(int port, int bit, int val)
{
if (port < 0 || port > 5)
{
error = "port out of range";
return;
}
if (bit < 0 || bit > 7)
{
error = "bit out of range";
return;
}
byte data = (byte)(1 << bit);
if (val > 0)
{
this.Ports[port].data |= data;
}
else
{
this.Ports[port].data &= (byte)(~data);
}
if (this.Ports[port].data != this.Ports[port].oldValue)
{
BasicLog.writeLog(String.Format("OutputBit(port: {0}, bit: {1}, val: {2})", port, bit, val));
this.Ports[port].oldValue = this.Ports[port].data;
}
}
/// <summary>
/// The main entry point for the application.
/// </summary>
static void Main()
{
WebApiService webapiservice = null;
#if DEBUG
if (Debugger.IsAttached)
{
BasicLog.writeLog("Debug Console mode");
webapiservice = new WebApiService();
BasicLog.writeLog("OnStart: Call");
webapiservice.OnStart();
BasicLog.writeLog("OnStart: Complete");
System.Threading.Thread.Sleep(System.Threading.Timeout.Infinite);
}
#endif
if (webapiservice == null)
{
BasicLog.writeLog("Service mode");
ServiceBase[] ServicesToRun;
ServicesToRun = new ServiceBase[]
{
new WebApiService()
};
BasicLog.writeLog("Run: Call");
ServiceBase.Run(ServicesToRun);
}
}
public void SetDirection(int port, int direction)
{
if (port < 0 || port > 5)
{
error = "port out of range";
return;
}
BasicLog.writeLog(String.Format("SetDirection(port: {0}, val: {1})", port, direction));
this.Ports[port].portDir = (byte)direction;
}
public void SetPwmParameters(int channel, Eth32PwmChannel state, double freq, double duty)
{
if (channel < 0 || channel > 1)
{
error = "Channel out of range";
}
PwmChans[channel].state = state;
PwmChans[channel].freq = freq;
PwmChans[channel].duty = duty;
BasicLog.writeLog(String.Format("SetPwmParameters(channel: {0}, freq: {1}, duty: {2})", channel, freq, duty));
}
protected override void OnStart(string[] args)
{
if (Program.mControl.appConfigured)
{
BasicLog.writeLog("Initialize Motion Control");
Program.mControl.Connect();
BasicLog.writeLog(string.Format("Motion Control Connection {0}", Program.mControl.isConnected() ? "Succeeded" : "Failed"));
}
string baseAddress = ConfigurationManager.AppSettings["WebAPIBaseAddress"];
BasicLog.writeLog("WebApi: Start");
WebApp.Start <WebApi>(url: baseAddress);
BasicLog.writeLog("WebApi: Complete");
}
public void OutputByte(int port, int val)
{
if (port < 0 || port > 5)
{
error = "port out of range";
return;
}
this.Ports[port].data = (byte)val;
if (this.Ports[port].data != this.Ports[port].oldValue)
{
BasicLog.writeLog(String.Format("OutputByte(port: {0}, val: {1})", port, val));
this.Ports[port].oldValue = this.Ports[port].data;
}
}
private void Run()
{
while (true)
{
try
{
int sleepTime = (int)(1000 / computeHz);
Thread.Sleep(sleepTime);
Compute();
if (motionComplete)
{
break;
}
}
catch (Exception e)
{
BasicLog.writeLog(e.Message);
}
}
}
public void SetDirectionBit(int port, int bit, int direction)
{
if (port < 0 || port > 5)
{
error = "port out of range";
return;
}
if (bit < 0 || bit > 7)
{
error = "bit out of range";
return;
}
BasicLog.writeLog(String.Format("SetDirectionBit(port: {0}, bit: {1}, direction: {2})", port, bit, direction));
byte dir = (byte)((direction & 0x01) << (bit - 1));
if (dir > 0)
{
this.Ports[port].portDir |= dir;
}
else
{
this.Ports[port].portDir &= (byte)(~dir);
}
}
public void Connect(bool bSameAddress = true)
{
if (settings.eth32Address.Length == 0)
{
BasicLog.writeLog("Please configure the eht32 in Options->Settings");
return;
}
// If we're already connected, disconnect and reconnect
if (dev.Connected && !bSameAddress)
{
enableDrive(false);
Thread.Sleep(1000);
dev.Disconnect();
Thread.Sleep(1000);
dev = null;
}
try
{
// Connect, use a 1 second timeout
if (dev == null)
{
dev = new Eth32();
}
if (!dev.Connected)
{
dev.Connect(settings.eth32Address, Eth32.DefaultPort, 1000);
}
if (dev.Connected)
{
state = DishState.Stopped;
dev.ResetDevice();
MotionSetup();
azEncoder.SetupEncoderPorts();
elEncoder.SetupEncoderPorts();
//setup output port
this.dev.SetDirection(this.outputPortNum, 0xff);
//watchdog output
this.dev.SetDirection(4, 1);
Thread.Sleep(100);
//set up initial state of output control bits
this.setControlBits(true, true, false);
this.setControlBits(false, true, false);
//setup PWM
this.dev.PwmClockState = Eth32PwmClock.Enabled;
this.dev.PwmBasePeriod = 199; //10 khz
this.setAz(0.0);
this.setEl(0.0);
this.enableDrive(true);
}
}
catch (Eth32Exception etherr)
{
#if !_TEST
BasicLog.writeLog("Error connecting to the ETH32: " + Eth32.ErrorString(etherr.ErrorCode));
#endif
}
if (!updateThread.IsAlive)
{
this.updateThread = new Thread(updateThreadCallback);
this.updateThread.Priority = ThreadPriority.Highest;
}
updateThread.Start();
}
protected override void OnStop()
{
BasicLog.writeLog("WebApi: OnStop");
// noone seems to worry about the shutdown...
}