private void OnIrixiAxisStateChanged(object sender, Tuple <byte, AxisArgs> e)
{
int AxisNo = e.Item1 - 1;
AxisArgsList[AxisNo].CurAbsPos = e.Item2.CurAbsPos;
AxisArgsList[AxisNo].IsBusy = e.Item2.IsBusy;
AxisArgsList[AxisNo].IsHomed = e.Item2.IsHomed;
AxisArgsList[AxisNo].IsInRequest = e.Item2.IsInRequest;
OnAxisStateChanged?.Invoke(this, e.Item1 - 1, AxisArgsList[AxisNo]);
if (AxisArgsList[AxisNo].ErrorCode != e.Item2.ErrorCode)
{
AxisArgsList[AxisNo].ErrorCode = e.Item2.ErrorCode;
if (e.Item2.ErrorCode != 0)
{
OnErrorOccured?.Invoke(this, e.Item2.ErrorCode, ParseErrorCode(e.Item2.ErrorCode));
}
}
}
private void OnIrixiAxisStateChanged(object sender, UnitState e)
{
int AxisNo = e.UnitID - (int)UnitID.U1;
AxisArgsList[AxisNo].CurAbsPos = (double)e.AbsPosition / AxisArgsList[AxisNo].GainFactor;
AxisArgsList[AxisNo].IsBusy = e.IsBusy;
AxisArgsList[AxisNo].IsHomed = e.IsHomed;
AxisArgsList[AxisNo].IsHomedAndNotBusy = e.IsHomed && (!e.IsBusy);
AxisArgsList[AxisNo].CurAbsPosPuse = e.AbsPosition;
OnAxisStateChanged?.Invoke(this, AxisNo, AxisArgsList[AxisNo]);
if (AxisArgsList[AxisNo].ErrorCode != (byte)e.Error)
{
AxisArgsList[AxisNo].ErrorCode = (byte)e.Error;
if ((byte)e.Error != 0)
{
OnErrorOccured?.Invoke(this, (int)e.Error, ParseErrorCode((int)e.Error));
}
}
}
