private void PreInit()
{
CheckAxisPending = true;
AxisOptions = null;
TriggerOptions = null;
RecorderMode = RecorderModeKinds.RecorderModeLocalOnly;
LastRecorderMode = RecorderModeKinds.RecorderModeIdle;
CurrentSystemModeId = 0;
LastSystemModeId = 0xff;
OptionsTab = new Options(this);
AxesTab = new Axes(this);
TriggersTab = new Triggers(this);
JobStorageTab = new JobStorage(this);
MotionTab = new Motion(this);
RecorderScope = new RecorderChart(this);
Controller = new AxesController(this);
}
// Set the mode of the controller to the currently selected Recorder Action.
public bool SetMode()
{
int index = RecorderAction.SelectedIndex;
if (index < 0 || index >= (int)RecorderActionKinds.RecorderActionNum)
{
index = 0;
RecorderAction.SelectedIndex = index;
}
RecorderActionKinds action = (RecorderActionKinds)index;
if (Controller != null && (Controller.AxesReady || (action == RecorderActionKinds.RecorderActionIdle)))
{
// Convert RecorderAction {Idle,Play,Record} to RecorderModeKind.
RecorderModeKinds mode = RecorderModeKinds.RecorderModeIdle;
switch (action)
{
case RecorderActionKinds.RecorderActionPlay:
mode = RecorderModeKinds.RecorderModePlayStandby;
CurrentSystemModeId = 0;
break;
case RecorderActionKinds.RecorderActionRecord:
mode = RecorderModeKinds.RecorderModeRecordStandby;
CurrentSystemModeId = 0;
break;
default:
mode = RecorderModeKinds.RecorderModeIdle;
++CurrentSystemModeId;
if (CurrentSystemModeId == 0)
{
CurrentSystemModeId = 1;
}
break;
}
// Send SetMode message, and let response set mode.
Controller.IssueSetModeCommandToAll((byte)mode, CurrentSystemModeId);
return(true);
}
return(false);
}
// Here is where mode actions are taken.
public void UpdateMode(byte mode, byte id)
{
if (Application.Current.Dispatcher.CheckAccess())
{
if (Controller != null && !IsClosing && mode < (byte)RecorderModeKinds.RecorderModeNum)
{
RecorderMode = (RecorderModeKinds)mode;
if (LastRecorderMode == RecorderMode)
{
if ((RecorderMode != RecorderModeKinds.RecorderModeLocalOnly) &&
(RecorderMode != RecorderModeKinds.RecorderModeIdle) &&
(RecorderMode != RecorderModeKinds.RecorderModeIdleStopped)
)
{
return;
}
if (id == LastSystemModeId)
{
return;
}
}
LastSystemModeId = id;
lock (Controller.SchedulerLock) {
Controller.PlayIsSignalled = false;
Controller.RecordIsSignalled = false;
switch (RecorderMode)
{
case RecorderModeKinds.RecorderModeLocalOnly:
case RecorderModeKinds.RecorderModeIdle:
// Switch chart back to normal mode.
// Reset chart cache.
RecorderScope.ResetCache();
RecorderScope.ResetSeries();
Controller.ResetTriggers();
// Reset timeline?
break;
case RecorderModeKinds.RecorderModePlayStandby:
// Copy pvt cache to chart cache setting actual pos to zero.
// Show static chart of current pvtCache.
Controller.CurrentPlayPVTCacheIndex = 0;
Controller.LastChartCacheIndex = 0;
Controller.LastChartCacheTime = 0.0;
Controller.LastStoppedTime = 0.0;
RecorderScope.ResetCache();
RecorderScope.ResetSeries();
RecorderScope.ChartCache.DeepCopy(Controller.PVTCache);
RecorderScope.ChartCache.ZeroElements(1, AxesController.FIELDS_PER_AXIS); // time,actual,target.
RecorderScope.ChartCache.RefreshMinMax();
RecorderScope.RenewChart();
Controller.ResetTriggers();
break;
case RecorderModeKinds.RecorderModePlaying:
// Start playback.
// TODO: unless resuming from a pause.
Controller.PlayIsSignalled = true;
break;
case RecorderModeKinds.RecorderModeRecordStandby:
// Reset chart cache & pvt cache?
// Reset timeline?
Controller.CurrentRecordStartTime = 0.0;
RecorderScope.ResetCache();
RecorderScope.ResetSeries();
Controller.PVTCache.Reset();
Controller.ResetTriggers();
break;
case RecorderModeKinds.RecorderModeRecording:
Controller.RecordIsSignalled = true;
// Make sure iso sending is active.
Controller.CheckMonitoringActive(true);
break;
case RecorderModeKinds.RecorderModeIdleStopped:
break;
case RecorderModeKinds.RecorderModePlayStopped:
// Rewind CurrentPlayPVTCacheIndex to LastStoppedTime.
Controller.RewindCurrentPlayPVTCacheIndex();
break;
case RecorderModeKinds.RecorderModeRecordStopped:
Controller.CurrentRecordStartTime = Controller.LastStoppedTime;
break;
}
}
LastRecorderMode = RecorderMode;
RecorderStatus.Text = RecorderModeMessages[(int)mode];
RecorderStatus.Background = RecorderModeBrushes[(int)mode];
}
}
else
{
Application.Current.Dispatcher.Invoke((Action)(() => { UpdateMode(mode, id); }));
}
}