public MotorCommand(MessageCommand Command, UserCallBackParameters FlightParameters)
{
Command.Address = MotorAddress;
TxMessages = new List <MessageCommand>();
TxMessages.Add(Command);
CompleteTriggered = false;
TxMessagedEmitted = -1;
OperationMode = RunMode.Waiting;
this.FlightParameters = FlightParameters;
}
public int AddMotionCommand(int MotorAddress, QcCommand Command, List <int> Parameters, UserCallBackParameters FlightParameters = null)
{
return(AddMotorCommand(MotorAddress,
new QcController.MotorCommands.MotionControlMotorCommand(
new QcController.MotorCommands.MessageCommands.MotionCommand(
new QcMessage()
{
Command = Command,
Data = Parameters
}), FlightParameters)));
}
public int AddImmediateCommand(int MotorAddress, QcCommand Command, List <int> Parameters = null, UserCallBackParameters FlightParameters = null)
{
if (Parameters == null)
{
Parameters = new List <int>();
}
return(AddMotorCommand(MotorAddress,
new QcController.MotorCommands.ImmediateMotorCommand(
new QcController.MotorCommands.MessageCommands.ImmediateCommand(
new QcMessage()
{
Command = Command,
Data = Parameters
}), FlightParameters)));
}
public Dictionary <int, int> AddCoordinatedMotion(List <Tuple <int, QcCommand, List <int> > > Motion, UserCallBackParameters FlightParameters = null)
{
Dictionary <int, int> MotorCommandIds = new Dictionary <int, int>();
Dictionary <int, QcController.MotorCommands.MessageCommands.SimultaneousMotionCommand> Motions = new Dictionary <int, QcController.MotorCommands.MessageCommands.SimultaneousMotionCommand>();
foreach (Tuple <int, QcCommand, List <int> > m in Motion)
{
Motions.Add(m.Item1, new MotorCommands.MessageCommands.SimultaneousMotionCommand(
new QcMessage()
{
Command = m.Item2,
Data = m.Item3
}));
}
foreach (KeyValuePair <int, MotorCommands.MessageCommands.SimultaneousMotionCommand> s in Motions)
{
Dictionary <int, QcController.MotorCommands.MessageCommands.SimultaneousMotionCommand> m =
new Dictionary <int, QcController.MotorCommands.MessageCommands.SimultaneousMotionCommand>();
m.Add(s.Key, s.Value);
foreach (KeyValuePair <int, MotorCommands.MessageCommands.SimultaneousMotionCommand> t in Motions.Except(m))
{
s.Value.CoordinatedMotion += new MotorCommands.MessageCommands.CoordinatedMotionHandler(t.Value.Coordinate);
}
int commandid = AddMotorCommand(s.Key, new QcController.MotorCommands.MotionControlMotorCommand(s.Value, FlightParameters));
MotorCommandIds.Add(s.Key, commandid);
}
return(MotorCommandIds);
}
