public static IAcsWrapper CreateInstance(ILogger logger, IRobotControlSetting robotSettings,
MachineCalibrationSetting machineCalSettings)
{
AcsWrapper acs;
if (AcsSimHelper.IsEnable())
{
AcsSimHelper.Start();
if (AcsSimHelper.Config.SimulationMode == SimulationMode.MockPlatform)
{
return(new AcsMocker());
}
else
{
acs = new AcsWrapper(logger, robotSettings, machineCalSettings);
try {
acs.Connect();
return(acs);
}
catch (Exception e) {
// if failed to connect, return AcsMocker
return(new AcsMocker());
}
}
}
acs = new AcsWrapper(logger, robotSettings, machineCalSettings);
acs.Connect();
return(acs);
}
internal AcsAxis(Api api, AcsUtils utils, BufferHelper bufferHelper, GantryAxes axisId, Axis acsAxisId,
IRobotControlSetting config)
{
this.api = api;
this.bufferHelper = bufferHelper;
acsUtils = utils;
axisConfig = config;
ApplicationAxisId = (int)axisId;
AcsAxisId = acsAxisId;
Name = ApplicationAxisId.ToString();
ReloadConfigParameters();
HomeStopCondition = string.Format("FAULT({0}).#LL", (int)AcsAxisId);
if (!Homed)
{
acsUtils.ClearBits("FDEF", (int)AcsAxisId, 64);
acsUtils.ClearBits("FDEF", (int)AcsAxisId, 32);
}
acsUtils.SetBits("FDEF", (int)AcsAxisId, 3);
if (Homed)
{
acsUtils.SetBits("FDEF", (int)AcsAxisId, 64);
acsUtils.SetBits("FDEF", (int)AcsAxisId, 32);
}
switch (ApplicationAxisId)
{
case 0:
HomeBuffer = 3;
break;
case 1:
HomeBuffer = 0;
break;
case 2:
HomeBuffer = 1;
break;
}
}
