private void LoadMotorInfo()
{
if (!this.motorInfo.IsValid)
{
return;
}
var info = new MotorInfoMap <MotorInfoUnit>();
var axises = EnumHelper.GetAllEnumMembers <AxisTypes>();
foreach (var m in axises)
{
info[m].Counter = this.motorInfo.GetCurrentPos(m);
info[m].Encoder = this.motorInfo.GetEncoder(m);
}
var bytes = Requestor.CreatePosInfoCmd(info);
try
{
bytes = this.tcpClient.Query(bytes, x => Protocol.Verify(x), out bool valid);
if (!valid)
{
throw new Exception();
}
}
catch
{
throw new Exception("Error occurred when loading motor information!");
}
}
public DummyMotorController()
{
this.CurrentPosInfo = new MotorInfoMap <double>();
this.CurrentStatusInfo = new MotorInfoMap <MotorStatus>();
this.CurrentSpeedInfo = new MotorInfoMap <double>();
this.CurrentAlarmInfo = new MotorInfoMap <bool>();
}
public static MotorInfoMap <bool> ParseAlarmInfo(uint data)
{
var info = new MotorInfoMap <bool>();
var axises = EnumHelper.GetAllEnumMembers <AxisTypes>();
foreach (var m in axises)
{
info[m] = (data & (1 << (int)m)) != 0;
}
return(info);
}
public static MotorInformation GetMotorInformation(Dictionary <AxisTypes, MotorParameter> motorParaMap, MotorInfoMap <MotorInfoUnit> motorInfoMap)
{
var res = new MotorInformation();
foreach (var m in motorParaMap.Keys)
{
res.PosInfo[m] = ConvertBackDistance(motorParaMap[m], motorInfoMap[m].Counter);
res.EncoderInfo[m] = ConvertBackDistance(motorParaMap[m], motorInfoMap[m].Encoder);
res.SpeedInfo[m] = ConvertBackSpeed(motorParaMap[m], motorInfoMap[m].Speed);
res.StatusInfo[m] = MotorStatus.FromRegContent((uint)motorInfoMap[m].Status);
}
return(res);
}
