//-----------------------------
protected override void OnHandshakeRouting()
{
base.OnHandshakeRouting();
Thread.Sleep(10);
RAStepper.OnHandshake();
DEStepper.OnHandshake();
GetDETurning(); // перенести в TFStepper
GetRATurning();
GetNavMicrostep(); // перенести в TFStepper
GetDailyMicrostep();
GetNavSpeed();
GetDailySpeedRA();
GetDailySpeedDE();
GetNavSpeedMin();
GetNavSpeedMax();
UpdatePosition();
GetReleaseTime();
}
protected override bool ParseCommand(byte[] cmd, int cmdlen)
{
if (base.ParseCommand(cmd, cmdlen))
{
return(true);
}
switch ((byte)cmd[0])
{
case (byte)MounterCmd.FOCUSER_GET_POSITION:
{
int pos = GetIntFormArray(cmd, 2);
switch ((MOTOR)cmd[1])
{
case MOTOR.RA:
RAStepper.SetPosition(pos);
fPosRA_EQ = -pos / fGearRatioRA;
if (fIsTimeRunning)
{
TimeSpan t = (DateTime.Now).Subtract(fOffset);
fPosRA_EQ = fPosRA_EQ + t.TotalSeconds * EARTH_TURN_SEC;
}
if (Math.Abs(fPosRA_EQ) > 24)
{
fPosRA_EQ = fPosRA_EQ - Math.Truncate(fPosRA_EQ / 24) * 24;
}
if (fPosRA_EQ < 0)
{
fPosRA_EQ = fPosRA_EQ + 24;
}
break;
case MOTOR.DE:
DEStepper.SetPosition(pos);
fPosDE_EQ = 90 - Math.Abs(pos) / fGearRatioDE;
break;
}
return(true);
}
case (byte)FocuserCmd.FOCUSER_GET_RELAESE_TIME:
case (byte)FocuserCmd.FOCUSER_SET_RELAESE_TIME:
{
SetReleaseTime(Convert.ToInt32(GetStringFormArray(cmd, cmdlen - 1, 1)));
return(true);
}
case (byte)MounterCmd.MOUNTER_SET_DROTATION:
case (byte)MounterCmd.MOUNTER_GET_DROTATION:
{
switch ((MOTOR)cmd[1])
{
case MOTOR.RA:
SetRATurning(Convert.ToBoolean(cmd[2]));
break;
case MOTOR.DE:
SetDETurning(Convert.ToBoolean(cmd[2]));
break;
}
return(true);
}
case (byte)MounterCmd.FOCUSER_GO_TO_POSITION:
{
string s = GetStringFormArray(cmd, cmdlen - 1, 1);
if (s.CompareTo("0") == 0)
{
OnGotoWaitEvent.Set();
fIsNewPositionMoving = false;
}
else
{
OnGotoWaitEvent.Reset();
fIsNewPositionMoving = true;
}
if ((OnGotoEvent != null) && (fParent.Parent != null))
{
fParent.Parent.BeginInvoke(OnGotoEvent);
}
return(true);
}
case (byte)MounterCmd.FOCUSER_SET_MICROSTEP:
case (byte)MounterCmd.FOCUSER_GET_MICROSTEP:
{
switch ((MODES)cmd[1])
{
case MODES.NAVIGATION:
SetNavMicrostep(cmd[2]);
break;
case MODES.DAILY:
SetDailyMicrostep(cmd[2]);;
break;
}
return(true);
}
case (byte)MounterCmd.MOUNTER_GET_NAV_SPEED:
case (byte)MounterCmd.MOUNTER_SET_NAV_SPEED:
{
SetNavSpeed(Convert.ToInt32(GetStringFormArray(cmd, cmdlen - 1, 1)));
return(true);
}
case (byte)MounterCmd.MOUNTER_GET_DAILY_SPEED:
case (byte)MounterCmd.MOUNTER_SET_DAILY_SPEED:
{
switch ((MOTOR)cmd[1])
{
case MOTOR.RA:
SetDailySpeedRA(Convert.ToInt32(GetStringFormArray(cmd, cmdlen - 2, 2)));
break;
case MOTOR.DE:
SetDailySpeedDE(Convert.ToInt32(GetStringFormArray(cmd, cmdlen - 2, 2)));
break;
}
return(true);
}
case (byte)MounterCmd.MOUNTER_GET_NAV_MAX_SPEED:
case (byte)MounterCmd.MOUNTER_SET_NAV_MAX_SPEED:
{
SetNavSpeedMin(Convert.ToInt32(GetStringFormArray(cmd, cmdlen - 1, 1)));
return(true);
}
case (byte)MounterCmd.MOUNTER_GET_NAV_MIN_SPEED:
case (byte)MounterCmd.MOUNTER_SET_NAV_MIN_SPEED:
{
SetNavSpeedMax(Convert.ToInt32(GetStringFormArray(cmd, cmdlen - 1, 1)));
return(true);
}
case (byte)MounterCmd.MOUNTER_STOP:
{
OnStopWaitEvent.Set();
break; //
}
}
;
if (RAStepper.OnCommand(cmd, cmdlen))
{
return(true);
}
if (DEStepper.OnCommand(cmd, cmdlen))
{
return(true);
}
return(false);
}
