public void moveToPositionByPulse(Int32 _rotX, Int32 _detY, Int32 _rotC, Int32 _detZ, Int32 _xrayZ)
{
// if (!ReadyMotion) return;
MechanicalPosition msg = new MechanicalPosition(MessageType.MECHANICAL_MOVE_MOTOR);
msg.setFirstEnginePosition(_rotX);
msg.setSecondEnginePosition(_detY);
msg.setThirdEnginePosition(_rotC);
msg.setFourthEnginePosition(_detZ);
msg.setFifthEnginePosition(_xrayZ);
this.mIsDoneMoving = false;
this.mMechanicalService.processInnerMessage(msg);
}
private void handleResponseMessage(BaseMessage msg)
{
switch (msg.getMessageType())
{
case MessageType.MECHANICAL_REQUEST_INFO:
{
Logger.Info("\nRequest Info {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_MOVE_MOTOR:
{
Logger.Info("\nMove Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_POSITION_CHANGED:
{
this.mIsDoneMoving = true;
Logger.Info("\nPosition Changed {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_HOME_MOTOR:
{
Logger.Info("\nHome Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_MACHINE_READY:
{
Logger.Info("\nMachine Ready = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_MACHINE_BUSY:
{
Logger.Info("\nMachine Busy = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_MACHINE_ERROR:
{
Logger.Info("\nMachine Error = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_ENABLE_MOTOR:
{
Logger.Info("\nEnable Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_DISABLE_MOTOR:
{
Logger.Info("\nDisable Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
}
case MessageType.MECHANICAL_RT_POSITION:
MechanicalPosition rtPosMessage = msg as MechanicalPosition;
if (this.mReadyFlag == false)
{
this.mReadyFlag = true;
Logger.Info("ReadMotion Change From {0} --> {1}", this.ReadyMotion, true);
this.ReadyMotion = true;
this.HomedMotion = true;
this.setDefaultMotorPos();
}
this.mReadyFlag = true;
this.Dispatcher.Invoke((MethodInvoker) delegate
{
if (this.mRotCPos != (double)rtPosMessage.getThirdEnginePosition() / PULSES_PER_DEGREE)
{
if (this.RotCPositionChanged != null)
{
this.RotCPositionChanged((double)rtPosMessage.getThirdEnginePosition() / PULSES_PER_DEGREE);
}
}
this.mRotXPos = (double)rtPosMessage.getFirstEnginePosition() / PULSES_PER_MILLIMETRE;
this.mDetYPos = (double)rtPosMessage.getSecondEnginePosition() / PULSES_PER_MILLIMETRE;
this.mRotCPos = (double)rtPosMessage.getThirdEnginePosition() / PULSES_PER_DEGREE;
this.mDetZPos = (double)rtPosMessage.getFourthEnginePosition() / PULSES_PER_MILLIMETRE;
this.mXRayPos = (double)rtPosMessage.getFifthEnginePosition() / PULSES_PER_MILLIMETRE;
this.tbRotXPos.Text = this.mRotXPos.ToString("0.00");
this.tbDetYPos.Text = this.mDetYPos.ToString("0.00");
this.tbRotCPos.Text = this.mRotCPos.ToString("0.00");
this.tbDetZPos.Text = this.mDetZPos.ToString("0.00");
this.tbXRayZPos.Text = this.mXRayPos.ToString("0.00");
//Logger.Info("Update Pos: {0}, {1}, {2}, {3}, {4} | {5}", this.mRotXPos, this.mDetYPos, this.mRotCPos, this.mDetZPos, this.mXRayPos, this.mReadyFlag);
});
break;
case MessageType.MECHANICAL_UNKNOWN:
//Logger.Info("Unkown Message: {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)msg.getMessageType())));
break;
default:
{
//Logger.Info("\nMotionCodec key = {0} does NOT match any key", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
}
}
private BaseMessage makeMessage(MessageType _key, byte[] payload)
{
BaseMessage message = null;
switch (_key)
{
case MessageType.MECHANICAL_REQUEST_INFO:
{
//Logger.Info("\nRequest Info {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_MOVE_MOTOR:
{
//Logger.Info("\nMove Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_POSITION_CHANGED:
{
message = new MechanicalResponse(MessageType.MECHANICAL_POSITION_CHANGED);
message.deserialize(payload);
break;
}
case MessageType.MECHANICAL_HOME_MOTOR:
{
message = new MechanicalResponse(MessageType.MECHANICAL_HOME_MOTOR);
message.deserialize(payload);
//Logger.Info("\nHome Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_MACHINE_READY:
{
message = new MechanicalResponse(MessageType.MECHANICAL_MACHINE_READY);
message.deserialize(payload);
//Logger.Info("\nMachine Ready = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_MACHINE_BUSY:
{
message = new MechanicalResponse(MessageType.MECHANICAL_MACHINE_BUSY);
message.deserialize(payload);
//Logger.Info("\nMachine Busy = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_MACHINE_ERROR:
{
message = new MechanicalResponse(MessageType.MECHANICAL_MACHINE_ERROR);
message.deserialize(payload);
//Logger.Info("\nMachine Error = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_ENABLE_MOTOR:
{
//Logger.Info("\nEnable Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_DISABLE_MOTOR:
{
//Logger.Info("\nDisable Motor = {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
case MessageType.MECHANICAL_RT_POSITION:
{
message = new MechanicalPosition(MessageType.MECHANICAL_RT_POSITION);
message.deserialize(payload);
break;
}
case MessageType.MECHANICAL_UNKNOWN:
{
//Logger.Info("Unkown Message: {0}", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
default:
{
//Logger.Info("\nMotionCodec key = {0} does NOT match any key", BitConverter.ToString(BitConverter.GetBytes((ushort)_key)));
break;
}
}
return(message);
}
