/// <summary>
/// Парсит полученные данные с контроллера
/// </summary>
/// <param name="readBuffer"></param>
private static void ParseInfo(IList <byte> readBuffer)
{
int ttm = (int)(((readBuffer[22] * 65536) + (readBuffer[21] * 256) + (readBuffer[20])) / 2.1);
if (ttm > 5000)
{
return;
}
//TODO: иногда в МК2 бывает глюк, поэтому защитимся от него, костылем
//if (readBuffer[10] == 0x58 && readBuffer[11] == 0x02 && readBuffer[22] == 0x20 && readBuffer[23] == 0x02) return;
deviceInfo.FreebuffSize = readBuffer[1];
deviceInfo.shpindel_MoveSpeed = 0;
if (Setting.DeviceModel == DeviceModel.MK1)
{
deviceInfo.shpindel_MoveSpeed = (int)(((readBuffer[22] * 65536) + (readBuffer[21] * 256) + (readBuffer[20])) / 2.1);
}
if (Setting.DeviceModel == DeviceModel.MK2)
{
deviceInfo.shpindel_MoveSpeed = (int)(((readBuffer[22] * 65536) + (readBuffer[21] * 256) + (readBuffer[20])) / 1.341);
}
deviceInfo.AxesX_PositionPulse = (readBuffer[27] * 16777216) + (readBuffer[26] * 65536) + (readBuffer[25] * 256) + (readBuffer[24]);
deviceInfo.AxesY_PositionPulse = (readBuffer[31] * 16777216) + (readBuffer[30] * 65536) + (readBuffer[29] * 256) + (readBuffer[28]);
deviceInfo.AxesZ_PositionPulse = (readBuffer[35] * 16777216) + (readBuffer[34] * 65536) + (readBuffer[33] * 256) + (readBuffer[32]);
deviceInfo.AxesX_LimitMax = (readBuffer[15] & (1 << 0)) != 0;
deviceInfo.AxesX_LimitMin = (readBuffer[15] & (1 << 1)) != 0;
deviceInfo.AxesY_LimitMax = (readBuffer[15] & (1 << 2)) != 0;
deviceInfo.AxesY_LimitMin = (readBuffer[15] & (1 << 3)) != 0;
deviceInfo.AxesZ_LimitMax = (readBuffer[15] & (1 << 4)) != 0;
deviceInfo.AxesZ_LimitMin = (readBuffer[15] & (1 << 5)) != 0;
deviceInfo.NuberCompleatedInstruction = readBuffer[9] * 16777216 + (readBuffer[8] * 65536) + (readBuffer[7] * 256) + (readBuffer[6]);
SuperByte bb = new SuperByte(readBuffer[19]);
deviceInfo.shpindel_Enable = bb.Bit0;
SuperByte bb2 = new SuperByte(readBuffer[14]);
deviceInfo.Estop = bb2.Bit7;
}
/// <summary>
/// Запуск движения без остановки
/// </summary>
/// <param name="x">Ось Х (доступные значения "+" "0" "-")</param>
/// <param name="y">Ось Y (доступные значения "+" "0" "-")</param>
/// <param name="z">Ось Z (доступные значения "+" "0" "-")</param>
/// <param name="speed"></param>
public static void StartManualMove(string x, string y, string z, int speed)
{
if (!Connected)
{
//stringError = "Для выключения шпинделя, нужно вначале установить связь с контроллером";
//return false;
return;
}
//if (!IsFreeToTask)
//{
// return;
//}
SuperByte axesDirection = new SuperByte(0x00);
//поставим нужные биты
if (x == "-")
{
axesDirection.SetBit(0, true);
}
if (x == "+")
{
axesDirection.SetBit(1, true);
}
if (y == "-")
{
axesDirection.SetBit(2, true);
}
if (y == "+")
{
axesDirection.SetBit(3, true);
}
if (z == "-")
{
axesDirection.SetBit(4, true);
}
if (z == "+")
{
axesDirection.SetBit(5, true);
}
//DataClear();
//DataAdd(BinaryData.pack_BE(axesDirection.valueByte, speed));
SendBinaryData(BinaryData.pack_BE(axesDirection.ValueByte, speed, x, y, z));
//Task_Start();
}