/// <summary>
/// Primary Construtor for IO object
/// </summary>
/// <param name="controller"></param>
/// <param name="id">Bit Number</param>
/// <param name="name">Call Name</param>
/// <param name="iotype">Sets the IO direction</param>
public KM_IO(KM_Controller controller, int id, string name, IO_TYPE iotype)
{
_Controller = controller;
_ID = id;
_Name = name;
_IOType = iotype;
UpdateIOType();
}
/// <summary>
/// Initialize Controller object and perfor tests
/// </summary>
/// <param name="args">N/A</param>
static void Main(string[] args)
{
//Create an instance of the _Controller
//The same instance should be used throughout the app
_Controller = new KMotion_dotNet.KM_Controller();
//Add all various callbacks
AddHandlers();
Console.WriteLine(String.Format("Board Type = [{0}]", _Controller.BoardType));
//Load a C program
//
// Figure out what directory we are installed into
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
string path = Uri.UnescapeDataString(uri.Path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
// pick one of the examples
String TheCFile = path + @"\C Programs\KSTEP\InitKStep3Axis.c";
//************NEW program execution model***********
String result = _Controller.ExecuteProgram(1, TheCFile, false);
if (result != "") MessageBox.Show(result);
//Also have a look at these::
//_Controller.ExecuteProgram(1);
//_Controller.WaitForThreadComplete(1, 400);
//_Controller.KillProgramThreads(1);
//_Controller.KillProgramThreads(3, 5, 6);
// Put a 64 bit float value into KFLOP UserData
// vars 26&27 and read it back.
// in KFLOP read it with:
// printf("UserData %f\n", *(double*)&persist.UserData[13 * 2]);
_Controller.SetUserDataDouble(13, 123.456789);
double d = _Controller.GetUserDataDouble(13);
//Get Firmware version
Console.WriteLine(_Controller.GetCommandValue<string>("Version", false));
RunMain_StatusExample();
//RunHomingRoutineExample();
RunIOExample();
//RunAxisExample();
RunCoordinatedMotionExample();
//RunInterpreterExample();
_Controller.Dispose();
Console.ReadLine();
}
public MainWindow()
{
InitializeComponent();
//Create an instance of the KM the same instance should be used throughout the app
try
{
KM = new KMotion_dotNet.KM_Controller();
}
catch (Exception e)
{
MessageBox.Show("Unable to load KMotion_dotNet Libraries. Check Windows PATH or .exe location\r\r" + e.Message);
System.Windows.Application.Current.Shutdown();
return;
}
//Add all various callbacks
AddHandlers();
//Load a C program, first figure out what directory we are installed into
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
MainPath = Uri.UnescapeDataString(uri.Path);
MainPath = System.IO.Path.GetDirectoryName(MainPath);
MainPath = System.IO.Path.GetDirectoryName(MainPath);
MainPath = System.IO.Path.GetDirectoryName(MainPath);
// pick one of the examples to configure KFLOP
String TheCFile = MainPath + @"\C Programs\KSTEP\InitKStep3Axis.c";
//Execute it
try
{
KM.ExecuteProgram(1, TheCFile, false);
}
catch (DMException e)
{
MessageBox.Show("Unable to Execute C Program in KFLOP\r\r" + e.InnerException.Message);
}
// default a simple GCode File
GCodeFile.Text = MainPath + @"\GCode Programs\box.ngc";
// Start a Timer for status updates
System.Windows.Threading.DispatcherTimer Timer = new System.Windows.Threading.DispatcherTimer();
Timer.Tick += new EventHandler(dispatcherTimer_Tick);
Timer.Interval = TimeSpan.FromMilliseconds(100);
Timer.Tick += dispatcherTimer_Tick;
Timer.Start();
SetMotionParameters(); // Set some motion Parameters
}
/// <summary>
/// Default constructor for the Axis Object
/// </summary>
/// <param name="controller"></param>
/// <param name="id"></param>
/// <param name="name"></param>
public KM_Axis(KM_Controller controller, int id, string name)
{
_Controller = controller;
_ID = id;
_Name = name;
_TuningParams = new KM_Axis_TuningParams(controller, id);
_HomingParams = new KM_Axis_HomingParams();
_HomingParams.DefaultThread = (id > 5) ? 1 : id;
while (_HomingParams.DefaultThread < 1)
{
_HomingParams.DefaultThread++;
}
}
private void TestBoard2_click(object sender, EventArgs e)
{
KM_Controller KM2;
KM2 = new KMotion_dotNet.KM_Controller(530);
if (KM2.WriteLineReadLine("ReadBit47") == "0")
{
KM2.WriteLine("SetBit47");
}
else
{
KM2.WriteLine("ClearBit47");
}
}
/// <summary>
/// Creates group of axes
/// </summary>
public KM_AxisGroup(KM_Controller controller, params KM_Axis[] axislist)
{
_Controller = controller;
if (axislist != null)
{
for (int i = 0; i < axislist.Length; i++)
{
if (axislist[i] == null)
{
_AxisList.Add(new KM_Axis(_Controller, -1, "not used"));
}
else
{
_AxisList.Add(axislist[i]);
}
}
}
}
/// <summary>
/// Initialize Controller object and perfor tests
/// </summary>
/// <param name="args">N/A</param>
static void Main(string[] args)
{
//Create an instance of the _Controller
//The same instance should be used throughout the app
_Controller = new KMotion_dotNet.KM_Controller();
//Add all various callbacks
AddHandlers();
Console.WriteLine(String.Format("Board Type = [{0}]", _Controller.BoardType));
//Load a C program
//
// Figure out what directory we are installed into
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
string path = Uri.UnescapeDataString(uri.Path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
// pick one of the examples
String TheCFile = path + @"\C Programs\KSTEP\InitKStep3Axis.c";
//************NEW program execution model***********
String result = _Controller.ExecuteProgram(1, TheCFile, false);
if (result != "")
{
MessageBox.Show(result);
}
//Also have a look at these::
//_Controller.ExecuteProgram(1);
//_Controller.WaitForThreadComplete(1, 400);
//_Controller.KillProgramThreads(1);
//_Controller.KillProgramThreads(3, 5, 6);
// Put a 64 bit float value into KFLOP UserData
// vars 26&27 and read it back.
// in KFLOP read it with:
// printf("UserData %f\n", *(double*)&persist.UserData[13 * 2]);
_Controller.SetUserDataDouble(13, 123.456789);
double d = _Controller.GetUserDataDouble(13);
//Get Firmware version
Console.WriteLine(_Controller.GetCommandValue <string>("Version", false));
RunMain_StatusExample();
//RunHomingRoutineExample();
RunIOExample();
//RunAxisExample();
RunCoordinatedMotionExample();
//RunInterpreterExample();
_Controller.Dispose();
Console.ReadLine();
}
public MainWindow()
{
InitializeComponent();
// create an instance of the KM controller - same instance is used in the entire app
// ******** VERY IMPORTANT *********
// inorder to make this work properly
// the following files needed to be copied to the Debug1/Release1 directories
// -- and the build output directories need to be changed to Debug1/Release1 - or at least something besides Debug/Release
// KMotionDLL.dll
// KMotion_dotNet.dll
// KMotion_dotNet_Interop.dll
// GCodeInterpreter.dll
// KMotionServer.exe
// TCC67.exe(This is the compiler for their DSP C code)
// emc.var
// \DSP_KFLOP Sub directory.
//
// also copy the DSP_KFLOP folder into Debug1/Release1
// reference this wiki page https://www.dynomotion.com/wiki/index.php?title=PC_Example_Applications
try
{
KM = new KMotion_dotNet.KM_Controller();
}
catch (Exception e)
{
MessageBox.Show("Unable to load KMotion_dotNet Libraries. Check Windows PATH or .exe location " + e.Message);
System.Windows.Application.Current.Shutdown(); // and shut down the application...
return;
}
// copy of the motion parameters that the JSON reader can use.
Xparam = new MotionParams_Copy();
// get the configuration file names
CFiles = new ConfigFiles();
// check if the the config file exists
if (File.Exists("KTestConfig.json") == true)
{
JsonSerializer Jser = new JsonSerializer();
StreamReader sr = new StreamReader("KTestConfig.json");
JsonReader Jreader = new JsonTextReader(sr);
CFiles = Jser.Deserialize <ConfigFiles>(Jreader);
sr.Close();
}
else
{
MessageBox.Show("No configureation file found");
// what to do here?
// Initialize the strings to null and save the file for next time
SaveConfig(CFiles);
}
if (File.Exists(CFiles.MotionParams) == true)
{
JsonSerializer Jser = new JsonSerializer();
StreamReader sr = new StreamReader(CFiles.MotionParams);
JsonReader Jreader = new JsonTextReader(sr);
Xparam = Jser.Deserialize <MotionParams_Copy>(Jreader);
sr.Close();
Xparam.CopyParams(KM.CoordMotion.MotionParams); // copy the motion parameters to the KM instance
}
// add the callbacks
AddHandlers();
// start a timer for the status update
var Timer = new DispatcherTimer();
Timer.Interval = TimeSpan.FromMilliseconds(100); // timer tick every 100 ms (1/10 sec)
Timer.Tick += dispatchTimer_Tick;
Timer.Start();
}
/// <summary>
/// Associate KFLOP Axis Channel with Parameters
/// </summary>
public KM_Axis_TuningParams(KM_Controller controller, int id)
{
_Controller = controller;
_ID = id;
}
private void TestBoard2_click(object sender, EventArgs e)
{
KM_Controller KM2;
KM2 = new KMotion_dotNet.KM_Controller(530);
if (KM2.WriteLineReadLine("ReadBit47")=="0")
KM2.WriteLine("SetBit47");
else
KM2.WriteLine("ClearBit47");
}
