public void ControlThreadStarter(Action MethodName, string name)
{
if (!isAlarm)
{
if (!isAbort)
{
if (ControlSemaphore.WaitOne(0))
{
WriteMessageQueue(name + " started");
MachineControlThread = new Thread(new ThreadStart(MethodName));
MachineControlThread.Start();
}
else
{
WriteMessageQueue("Thread already working");
}
}
else
{
WriteMessageQueue("Turn off Abort");
}
}
else
{
WriteMessageQueue("THE ALARM IS ON TURN OFF THE ALARM FIRST");
}
}
internal void MysteryBoxConnect()
{
int ByteCount;
String RecieveData;
string SendData;
Byte[] BytesOut = new Byte[256];
Byte[] BytesIn = new Byte[256];
try
{
SenClient = new TcpClient();
SenClient.Connect(IPAddress.Parse("10.10.6.100"), 23);
SenStream = SenClient.GetStream();
SendData = "A";
SendData += "X";
//Clear BytesOut
//Translate the passed message
BytesOut = Encoding.ASCII.GetBytes(SendData);
//Send the message to the sensor client
SenStream.Write(BytesOut, 0, BytesOut.Length);
//Machine must cross over the reference mark on the vertical motor to start
//the connection
//Read the incoming data
ByteCount = SenStream.Read(BytesIn, 0, BytesIn.Length);
RecieveData = Encoding.ASCII.GetString(BytesIn, 0, ByteCount);
isSenCon = true;
DataController.Controller.MotorController.StopVer();
}
catch (Exception ex)
{
DataController.Controller.MotorController.StopVer();
MessageBox.Show(ex.Message.ToString(), "Mystery Box Connect Error");
}
WriteMessageQueue("MysteryBoxConnect Completed");
try { ControlSemaphore.Release(1); }
catch (System.Threading.SemaphoreFullException ex)
{
MessageBox.Show("error releasing ControlSemaphore 4 " + ex.Message.ToString());
}
}
internal double AutoZero(double returnHeight) //returnHeight represents the height above the found surface the machine returns to.
{
double height = 0;
double epsilon = 0.0006;
MessageBox.Show("AutoAUTOzero:\nMake sure tool positioned over set piece\n");
double autoautozerocurrent, autoautozeroprevious;
bool isAutoAutoZeroZeroed;
//*********Zero the axial force reading************
btnZzero_Click(new object(), new EventArgs());
if (MaxZForce < 800)
{
MaxZForce = 800;
}
Thread.Sleep(1000);
double azforce;
azforce = (double)nmPinchForce.Value; //from the spot welding box added by chase on 4/9/12
if (ZForce > 100) // This is a test for initial force
{
MessageBox.Show("Force Already Exceeds Turn-On Force");
}
else
{
WriteMessageQueue("The AutoAutoZero Process Will Now Begin\nNOTE:Currently using .0006 as tolerance");
//Alert GUI of first upward motion
//isAutoisfirstup = true;
//initiate table raising
VerPort.Write("MC H+ A10 V.3 G\r");
while (ZForce < azforce) //changed from 100 to azforce by Chase 4/9/2012
{
Thread.Sleep(0); //changed to sleep 0 by Jay 6/10/2015
}
//Stop the motor
StopVer();
Thread.Sleep(500);
////Alert GUI of first downward motion
//isAutoisfirstdown = true;
////initiate table lowering
VerPort.Write("MN A10 V2 D-3000 G\r");
////Sleep for one second
Thread.Sleep(1000);
////Alert GUI of final upward motion
//isAutoissecondup = true;
autoautozerocurrent = -2;
autoautozeroprevious = -1;
bool LoopRepeat = true;
isAutoAutoZeroZeroed = false;
while (!isAutoAutoZeroZeroed)
{
autoautozeroprevious = autoautozerocurrent;
////Do final upward in a loop
LoopRepeat = true;
while (LoopRepeat)
{
//Wait for turn off signal
if (ZForce > azforce) //changed from ZForce changed by Chase on 11/21/11 //changed from 100 to azforce by Chase 4/9/2012
{
LoopRepeat = false;
}
else
{
VerPort.Write("MN A1 V1 D100 G\r");
}
Thread.Sleep(1000);
}
////Sleep for stability
Thread.Sleep(500);
autoautozerocurrent = VerLoc;
if (Math.Abs(autoautozerocurrent - autoautozeroprevious) < .0006)
{
isAutoAutoZeroZeroed = true;
}
else
{
//move table down
VerPort.Write("MN A10 V2 D-3000 G\r");
////Sleep for one second
Thread.Sleep(1000);
}
WriteMessageQueue(autoautozerocurrent.ToString("F4"));
}
////Set weld height
isSetVerWeld = true;
VerWeld = VerLoc;
////Sleep for assurance of GUI update
Thread.Sleep(1000);
//move table down
VerPort.Write("MN A10 V2 D-3000 G\r");
Thread.Sleep(1000);
//Clear out port
VerPort.ReadExisting(); //this was edited out
//Query the motor and establish RS-232 control
VerPort.Write("E ON 1R\r"); //this was edited out
Thread.Sleep(300); //this was edited out
//Turn off limits
VerPort.Write("1LD3\r"); //this was edited out
Thread.Sleep(30); //this was edited out
//Clear out port and place in holding string
VerPort.ReadExisting(); //this was edited out
double tempver = VerLoc;
//initiate table raising
VerPort.Write("MC H- A10 V2 G\r");
while (VerLoc > (tempver - .125))
{
Thread.Sleep(30);
}
StopVer();
UpdateLimitValues();
WriteMessageQueue("AutoAutoZero Completed");
//Always release the control semaphore before finishing a Machine Control Task
try { ControlSemaphore.Release(1); }
catch (System.Threading.SemaphoreFullException ex)
{
MessageBox.Show("error releasing ControlSemaphore 6 " + ex.Message.ToString());
}
}
//return height;
}
public void SimulinkReciveLoop()
{
//need to add code to set motor parameters to be snapper in simulink control but less jumpy normally
bool isSimDone = false;
isSimControl = true;
Byte[] RecieveBytes = new Byte[256];
double tempvar;
StartUDP();
WriteMessageQueue("waiting for communication from simulink..");
Thread.Sleep(500);
while (SimulinkReviceUDP.Available > 0)//clear udp buffer, want to recieve latest packet make sure simulink is running
{
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
}
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
WriteMessageQueue("Giving control to simulink");
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
VerSpeed[0] = BitConverter.ToDouble(RecieveBytes, 0);
SpiSpeed[0] = BitConverter.ToDouble(RecieveBytes, 8);
tempvar = BitConverter.ToDouble(RecieveBytes, 16);
#region Initialize Traverse Lateral Motor for Analog Control
AnalogControl();
#endregion
#region Initialize Spindle Speed
isSpiSpeedCW = trueifpositive(SpiSpeed[0]);
if (isSpiSpeedCW)
{
StartSpiCW();
isSpiCW = true;
}
else
{
StartSpiCCW();
isSpiCW = false;
}
#endregion
VerSpeed[0] = -99.9;
SpiSpeed[0] = -99.9;
//Why is analog control started twice? - adam
AnalogControl();
while (!isAbort && !isSimDone && !isAlarm) // checking to see that system is good move this up a few levels
{
//Try to recieve data
if (SimulinkReviceUDP.Available > 0)
{
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
}
//if no data has been sent assume welding computer has crashed
else
{
WriteMessageQueue("Data Not recieved from the simulink real time computer");
//Break out of while loop then have rest of thread stop motors
break;
}
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
VerSpeed[1] = VerSpeed[0];
VerSpeed[0] = BitConverter.ToDouble(RecieveBytes, 0);
SpiSpeed[1] = SpiSpeed[0];
SpiSpeed[0] = BitConverter.ToDouble(RecieveBytes, 8);
tempvar = BitConverter.ToDouble(RecieveBytes, 16);
isSimDone = System.Convert.ToBoolean(tempvar);
#region Update Vertical Speed
if (VerSpeed[0] != VerSpeed[1])
{
isVerDown = trueifpositive(VerSpeed[0]);
VerSpeedMagnitude = Math.Abs(VerSpeed[0]);
if (VerSpeedMagnitude > VerSpeedLimit)
{
VerSpeedMagnitude = VerSpeedLimit;
}
if (VerSpeedMagnitude < VerSpeedMinimum)
{
VerSpeedMagnitude = VerSpeedMinimum;
}
VerMessage = "H";
if (isVerDown)
{
VerMessage += "+";
}
else
{
VerMessage += "-";
}
VerMessage += "A" + VerAccel.ToString("F2") + " V" + VerSpeedMagnitude.ToString("F5") + " G\r";
VerPort.Write(VerMessage);
}
#endregion
#region Update Spindle Speed
if (SpiSpeed[0] != SpiSpeed[1])
{
isSpiSpeedCW = trueifpositive(SpiSpeed[0]);
SpiSpeedMagnitude = Math.Abs(SpiSpeed[0]);
if (SpiSpeedMagnitude > 100)
{
isLubWanted = true;
}
else
{
isLubWanted = false;
}
//Limit Spindle speed
if (SpiSpeedMagnitude > SpiSpeedLimit)
{
SpiSpeedMagnitude = SpiSpeedLimit;
}
if (isSpiSpeedCW)
{
if (!isSpiCW)
{
StartSpiCW();
isSpiCW = true;
}
SpiMessage = "CW";
}
else
{
if (isSpiCW)
{
StartSpiCCW();
isSpiCW = false;
}
SpiMessage = "CCW";
}
ChangeSpiRef(SpiSpeedMagnitude);
WriteMessageQueue("Spi set to:" + SpiSpeedMagnitude.ToString("F0") + SpiMessage);
}
#endregion
//clear udp buffer, want to recieve latest packet
while (SimulinkReviceUDP.Available > 0)
{
RecieveBytes = SimulinkReviceUDP.Receive(ref IPRecivefromSimulink);
}
Thread.Sleep(25);
}
StopAllMotors();
isLubWanted = false;
btnZzero_Click(new object(), new EventArgs());
Program.Safetyfrm.UpdateLimitsSafe();
WriteModbusQueue(3, 0x0300, 04, false); //give lateral motor master frequency control to rs-485
WriteModbusQueue(3, 0x0301, 03, false); //give lateral motor Source of operation command to rs-485
WriteModbusQueue(3, 0x0705, 0, false); //set lateral speed to zero
WriteModbusQueue(3, 0x010D, 0, false); //set Lateral motor direcction (Fwd/Rev) to be controled by rs-485
WriteModbusQueue(2, 0x0300, 04, false); //give Traverse motor master frequency control to rs-485
WriteModbusQueue(2, 0x0301, 03, false); //give Traverse motor Source of operation command to rs-485
WriteModbusQueue(2, 0x0705, 0, false); //set Traverse speed to zero
WriteModbusQueue(2, 0x010D, 0, false); //set Traverse motor direcction (Fwd/Rev) to be controled by rs-485
SoftStop = 1;
Thread.Sleep(25);
isSimControl = false;
MatlabExecute("SaveData");//run script to save data
WriteMessageQueue("SimulinkRecieve Completed");
try { ControlSemaphore.Release(1); }
catch (System.Threading.SemaphoreFullException ex)
{
MessageBox.Show("error releasing ControlSemaphore 3 " + ex.Message.ToString());
}
}
