public ActuatorBase(string name, ActuatorConfig config, IActuatorState initialState = null)
{
Config = new ActuatorConfig(config);
initialState = initialState ?? Config.GetDefaultInitialActuatorState();
slewRateLimitTool = new SlewRateLimitTool(minValue: 0.0, maxValue: 100.0, initialValue: initialState.PositionInPercent, initialTarget: initialState.TargetPositionInPercent, maxRatePerSec: 0.0);
UpdateMotionRates();
privateState = new ActuatorState(initialState);
logger = new Logging.Logger(name, Logging.LogGate.All);
if (config.InitialPos.IsTargetPositionValid(allowInBetween: true))
{
privateState.TargetPos = privateState.PosState = config.InitialPos;
privateState.TargetPositionInPercent = privateState.PositionInPercent = GetTargetPositionInPercent(config.InitialPos, mapInBetweenToHalfWay: true);
privateState.TargetPosStr = privateState.PosStateStr = config.ToString(config.InitialPos);
}
logger.Debug.Emit("Initial state is:{0} [{1} {2:f0}%]", privateState.PosStateStr, privateState.PosState, privateState.PositionInPercent);
PublishState();
}
public ActuatorBase(ActuatorConfig config, ActuatorState state)
{
Config = config;
PrivateState = state;
logger = new Logging.Logger(config.Name, Logging.LogGate.All);
PrivateState.TargetPos = PrivateState.PosState = config.InitialPos;
PrivateState.TargetPosStr = PrivateState.PosStateStr = config.ToString(config.InitialPos);
PrivateState.TimeStamp = QpcTimeStamp.Now;
logger.Info.Emit("Initial state is:{0} [{1}]", PrivateState.PosStateStr, PrivateState.PosState);
PublishState();
}
protected void PublishState()
{
State = new ActuatorState(privateState);
}
public bool IsEqualTo(ActuatorState rhs)
{
return (rhs != null
&& TargetPos == rhs.TargetPos
&& TargetPosStr == rhs.TargetPosStr
&& PosState == rhs.PosState
&& PosStateStr == rhs.PosStateStr
&& TimeStamp == rhs.TimeStamp
);
}
public ActuatorState(ActuatorState rhs)
{
TargetPos = rhs.TargetPos;
TargetPosStr = rhs.TargetPosStr;
PosState = rhs.PosState;
PosStateStr = rhs.PosStateStr;
TimeStamp = rhs.TimeStamp;
}
void PublishState()
{
State = new ActuatorState(PrivateState);
}
public PositionState(PositionState rhs)
{
ClampState = new ActuatorState(rhs.ClampState);
DockState = new ActuatorState(rhs.DockState);
VacState = new ActuatorState(rhs.VacState);
DoorKeysState = new ActuatorState(rhs.DoorKeysState);
DoorOpenState = new ActuatorState(rhs.DoorOpenState);
DoorDownState = new ActuatorState(rhs.DoorDownState);
}
public PositionState()
{
ClampState = new ActuatorState();
DockState = new ActuatorState();
VacState = new ActuatorState();
DoorKeysState = new ActuatorState();
DoorOpenState = new ActuatorState();
DoorDownState = new ActuatorState();
}
