/// <summary> Wait for any response from the device. </summary>
/// <param name="timeout"> The timeout. </param>
/// <returns> returns the received byte[] array. </returns>
public byte[] WaitForUnknownReply(int timeout)
{
// wait for the 6 byte header to be received
byte[] header = WaitForReply(6, timeout);
if (header == null)
{
return(null);
}
// extrat the header into a Thorlabs message header structure
MessageStruct headerStruct = Utilities.DeserializeMsg <MessageStruct>(header);
// if the message is complete (destination < 0x80) then return header bytes
if ((headerStruct._destination & 0x80) == 0)
{
return(header);
}
// wait for the remainder of the message (length defined by header packet length field)
byte[] data = WaitForReply(headerStruct._packetLength, 200);
if (data == null)
{
return(null);
}
// return both byte arrays as a single message byte array
byte[] complete = new byte[headerStruct._packetLength + 6];
header.CopyTo(complete, 0);
data.CopyTo(complete, header.Length);
return(complete);
}
/// <summary> Wait for homing to complete. </summary>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool WaitForHomimgComplete()
{
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE);
byte[] byteArray = Utilities.SerializeMessage(statusMessage);
// loop until homed complete
bool homed = false;
while (!homed)
{
// send status request command
_device.SendCommand(byteArray);
// get any response (maybe a status response or a homed response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check the homing bit
if (returnObject is MotorStatus)
{
homed = ((((MotorStatus)returnObject)._status & 0x0400) != 0);
}
// if a simple message structure then check for homed message
if (returnObject is MessageStruct)
{
homed = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_HOMED;
}
}
}
return(true);
}
/// <summary> Wait for moving complete. </summary>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool WaitForMovingComplete()
{
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE); // NOTE - some devices use 0x0480 as status request
byte[] byteArray = Utilities.SerializeMessage(statusMessage);
// loop until move complete
bool moved = false;
while (!moved)
{
// send status request command
_device.SendCommand(byteArray);
// get any response (maybe a status response or a move complete response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check for moving bit
if (returnObject is MotorStatus)
{
moved = ((((MotorStatus)returnObject)._status & 0x00f0) == 0);
}
// if a simple message structure then check for move complete message
if (returnObject is MessageStruct)
{
moved = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_COMPLETE;
}
}
}
return(true);
}
/// <summary> Starts a move operation. </summary>
/// <param name="step"> Amount to increment by. </param>
/// <param name="complete"> [out] The complete. </param>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool StartMoving(int step, out bool complete)
{
complete = false;
// gets the MotorMoveRelative command structure as a byte[] array
MotorMoveRelative motorMessage = new MotorMoveRelative(step);
byte[] byteArray = Utilities.SerializeMessage(motorMessage);
// flush any existing messages and send move message
_device.FlushMessages();
if (!_device.SendCommand(byteArray))
{
return(false);
}
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE); // NOTE - some devices use 0x0480 as status request
byteArray = Utilities.SerializeMessage(statusMessage);
// loop until device is moving
bool started = false;
while (!started && !complete)
{
// request status
_device.SendCommand(byteArray);
// get any response (maybe a status response or a move complete response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check for moving bit
if (returnObject is MotorStatus)
{
started = ((((MotorStatus)returnObject)._status & 0x00f0) != 0);
}
// if a simple message structure then check for move complete message
if (returnObject is MessageStruct)
{
complete = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_COMPLETE;
}
}
}
return(true);
}
/// <summary> Starts a homing operation. </summary>
/// <param name="complete"> [out] The complete. </param>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool StartHoming(out bool complete)
{
complete = false;
// gets the MotorHome command structure as a byte[] array
MessageStruct message = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_MOVE_HOME);
byte[] byteArray = Utilities.SerializeMessage(message);
// flush any existing messages and send move message
_device.FlushMessages();
if (!_device.SendCommand(byteArray))
{
return(false);
}
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE);
byteArray = Utilities.SerializeMessage(statusMessage);
// loop until device is homing
bool started = false;
while (!started && !complete)
{
// request status
_device.SendCommand(byteArray);
// get any response (maybe a status response or a homed response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check the homing bit
if (returnObject is MotorStatus)
{
started = ((((MotorStatus)returnObject)._status & 0x0200) != 0);
}
// if a simple message structure then check for homed message
if (returnObject is MessageStruct)
{
complete = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_HOMED;
}
}
}
return(true);
}
/// <summary> Gets a device information. </summary>
/// <returns> The device information. </returns>
public string GetDeviceInfo()
{
try
{
// check if device is connected
if (!_device.IsConnected)
{
return("Not Connected");
}
// get a simple Thorlabs Message Structure and convert to a byte[] array
MessageStruct message = SimpleMessageStruct(DeviceMessages.MGMSG_HW_REQ_INFO);
byte[] byteArray = Utilities.SerializeMessage(message);
// send the message
if (!SendCommand(byteArray))
{
return("Error Writing Command");
}
// get expected size of response
int structSize = Marshal.SizeOf(typeof(GetHardwareInfo));
// wait for response from device (timeout 2 secs)
byteArray = WaitForReply(structSize, 2000);
if (byteArray == null)
{
return("Error waiting for response");
}
// convert response to a GetHardwareInfo structure
GetHardwareInfo hardwareInfo = Utilities.DeserializeMsg <GetHardwareInfo>(byteArray);
return(hardwareInfo.ToString());
}
catch (Exception ex)
{
return(ex.Message);
}
}
