public SequenceCommandLogic(IControllerSequencer controllerSequencer,
MotorPositionController backwardForwardPositionController,
MotorPositionController upDownPositionController,
MotorPositionController turnLeftRightPositionController,
MotorPositionController openCloseClampPositionController)
{
this.controllerSequencer = controllerSequencer;
this.backwardForwardPositionController = backwardForwardPositionController;
this.upDownPositionController = upDownPositionController;
this.turnLeftRightPositionController = turnLeftRightPositionController;
this.openCloseClampPositionController = openCloseClampPositionController;
this.logger = LogManager.GetLogger(typeof(SequenceCommandLogic));
}
public MainWindowViewModel()
{
controllerSequencer = new ControllerSequencer(Properties.Settings.Default.RoboAddress, new ControllerConfiguration(), new ApplicationConfiguration()
{
ApplicationName = "RoboterApp"
});
this.PositionNames = new ObservableCollection <string>(this.controllerSequencer.GetPositionNames());
BackwardForwardPositionController = controllerSequencer.ConfigureMotorPositionController(new MotorConfiguration
{
Motor = Motor.Two,
ReferencingDirection = Direction.Left,
ReferencingSpeed = Speed.Maximal,
ReferencingFinePositioningSpeed = Speed.Slow,
ReferencingInput = DigitalInput.Two,
ReferencingInputState = false,
Limit = 700
});
MoveBackwardCommand = new ContinuousMoveAxisCommand(this.BackwardForwardPositionController, Direction.Left);
MoveForwardCommand = new ContinuousMoveAxisCommand(this.BackwardForwardPositionController, Direction.Right);
UpDownPositionController = controllerSequencer.ConfigureMotorPositionController(new MotorConfiguration
{
Motor = Motor.Three,
ReferencingDirection = Direction.Left,
ReferencingSpeed = Speed.Fast,
ReferencingFinePositioningSpeed = Speed.Slow,
ReferencingInput = DigitalInput.Three,
ReferencingInputState = false,
Limit = 2000
});
MoveUpCommand = new ContinuousMoveAxisCommand(this.UpDownPositionController, Direction.Left);
MoveDownCommand = new ContinuousMoveAxisCommand(this.UpDownPositionController, Direction.Right);
TurnLeftRightPositionController = controllerSequencer.ConfigureMotorPositionController(new MotorConfiguration
{
Motor = Motor.One,
ReferencingDirection = Direction.Right,
ReferencingSpeed = Speed.Average,
ReferencingFinePositioningSpeed = Speed.Slow,
ReferencingInput = DigitalInput.One,
ReferencingInputState = false,
Limit = 2200
});
TurnLeftCommand = new ContinuousMoveAxisCommand(this.TurnLeftRightPositionController, Direction.Left);
TurnRightCommand = new ContinuousMoveAxisCommand(this.TurnLeftRightPositionController, Direction.Right);
OpenCloseClampPositionController = controllerSequencer.ConfigureMotorPositionController(new MotorConfiguration
{
Motor = Motor.Four,
ReferencingDirection = Direction.Left,
ReferencingSpeed = Speed.Quick,
ReferencingFinePositioningSpeed = Speed.Slow,
ReferencingInput = DigitalInput.Four,
ReferencingInputState = false,
Limit = 15,
IsSaveable = false
});
OpenClampCommand = new ContinuousMoveAxisCommand(this.OpenCloseClampPositionController, Direction.Left);
CloseClampCommand = new ContinuousMoveAxisCommand(this.OpenCloseClampPositionController, Direction.Right);
ReferenceAxisCommand = new ReferenceAxisCommand(TurnLeftRightPositionController, UpDownPositionController, BackwardForwardPositionController, OpenCloseClampPositionController);
SavePositionCommand = new SavePositionCommand(this.controllerSequencer, this.PositionNames);
MoveToPositionCommand = new MoveToPositionCommand(this.controllerSequencer, this);
this.sequenceCommandLogic = new SequenceCommandLogic(this.controllerSequencer, this.BackwardForwardPositionController, this.UpDownPositionController, this.TurnLeftRightPositionController, this.OpenCloseClampPositionController);
StartSequenceCommand = new StartSequenceCommand(this.sequenceCommandLogic);
AlarmSoundCommand = new AlarmSoundCommand(controllerSequencer);
controllerSequencer.CommunicationLoopCyleTimeChanges.Subscribe(OnCommunicationLoopCycleTimeUpdate);
controllerSequencer.CommunicationExceptions.Subscribe(OnCommunicationLoopExcpetion);
controllerSequencer.ControllerConnectionStateChanges.Subscribe(OnControllerConnectionStateChanged);
controllerSequencer.CommunicationLoopBlockingEvents.Subscribe(OnCommunicationLoopBlocked);
CurrentControllerConnectionState = controllerSequencer.CurrentlyConnectedToController;
}
public SavePositionCommand(IControllerSequencer sequencer, ObservableCollection <string> positionNames)
{
this.sequencer = sequencer;
this.positionNames = positionNames;
}
public MoveToPositionCommand(IControllerSequencer controllerSequencer, MainWindowViewModel mainWindowViewModel)
{
this.controllerSequencer = controllerSequencer;
this.mainWindowViewModel = mainWindowViewModel;
}
public AlarmSoundCommand(IControllerSequencer sequencer)
{
this.sequencer = sequencer;
}
