public AxisStatus GetStatus(int axis)
{
var raw = GetRawStatus(axis);
var status = new AxisStatus();
Action <int, AxisStatus> check_1 = (bit, s) =>
{
if (CheckBit(raw, bit))
{
status |= s;
}
};
Action <int, AxisStatus> check_0 = (bit, s) =>
{
if (!CheckBit(raw, bit))
{
status |= s;
}
};
check_1(1, AxisStatus.ALM);
check_1(5, AxisStatus.PEL);
check_1(6, AxisStatus.MEL);
check_1(8, AxisStatus.EMG);
check_1(4, AxisStatus.ORG);
check_0(10, AxisStatus.INP);
check_1(9, AxisStatus.RDY);
return(status);
}
/// <summary>
/// Returns string representation of a given status enumerator.
/// </summary>
public static string GetStatusString(AxisStatus status)
{
switch (status)
{
case AxisStatus.OK:
return("OK");
case AxisStatus.NotFound:
return("NOT FOUND");
case AxisStatus.Unavailable:
return("NOT AVAILABLE");
case AxisStatus.Disconnected:
return("NOT CONNECTED");
case AxisStatus.NotRunning:
return("NOT RUNNING");
case AxisStatus.Error:
return("ERROR");
case AxisStatus.NoLink:
return("NO LINK");
default:
return("UNKNOWN");
}
}
public AxisStatus GetStatus(int axis)
{
uint raw = 0;
Api.p9014_get_io_status(GetAxis(axis), ref raw).Verify();
AxisStatus status = 0;
Action <int, AxisStatus> CheckBit1 = (bit, mask) =>
{
if ((raw & (1u << bit)) != 0u)
{
status |= mask;
}
};
Action <int, AxisStatus> CheckBit0 = (bit, mask) =>
{
if ((raw & (1u << bit)) == 0u)
{
status |= mask;
}
};
CheckBit1(0, AxisStatus.PEL);
CheckBit1(1, AxisStatus.MEL);
CheckBit1(2, AxisStatus.ORG);
CheckBit0(4, AxisStatus.EMG);
if ((status & AxisStatus.PEL) == AxisStatus.PEL)
{
status |= AxisStatus.ALM;
}
if ((status & AxisStatus.MEL) == AxisStatus.MEL)
{
status |= AxisStatus.ALM;
}
return(status);
}
/// <summary>
///
/// </summary>
/// <param name="axis"></param>
/// <param name="speed"></param>
/// <returns>If stopping was required</returns>
private async Task <bool> StopAxisIfRequiredAsync(MountAxis axis, double speed, double absoluteSpeed)
{
AxisStatus mountInfoAxisStatus = this._mountInfo.MountState.AxesStatus[(int)axis];
if (!mountInfoAxisStatus.FullStop)
{
if (!mountInfoAxisStatus.Tracking)
{
await this._mountControl.SetAxisStop(axis).ConfigureAwait(false);
}
else if (mountInfoAxisStatus.HighSpeed)
{
await this._mountControl.SetAxisStop(axis).ConfigureAwait(false);
}
// Moving to ludicrous speed
else if (absoluteSpeed >= MountControlConstants.LOW_SPEED_MARGIN)
{
await this._mountControl.SetAxisStop(axis).ConfigureAwait(false);
}
// Changing direction
else if (mountInfoAxisStatus.SlewingClockWise && speed < 0)
{
await this._mountControl.SetAxisStop(axis).ConfigureAwait(false);
}
// Changing direction
else if (mountInfoAxisStatus.SlewingClockWise && speed > 0)
{
await this._mountControl.SetAxisStop(axis).ConfigureAwait(false);
}
else
{
// All checks passed, safe to set motion mode
return(false);
}
// Wait until the axis stops
while (true)
{
await this._mountControl.QueryStatus(axis).ConfigureAwait(false);
// Return if the axis has stopped.
if (mountInfoAxisStatus.FullStop)
{
break;
}
Thread.Sleep(100);
}
}
return(true);
}
private async Task QueryStatus(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commonCommandBuilder.BuildGetStatusCommand(axis);
byte[] response = await this.SendRecieveCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
if (!base.ValidateResponse(response))
{
return;
}
if (response.Length != 5)
{
Debug.WriteLine($"Got malformed response to status query {response.Length} bytes");
return;
}
AxisStatus status = this._commonCommandParser.ParseStatusResponse(response);
mountInfo.MountState.AxesStatus[(int)axis] = status;
}
public AxisStatus ParseStatusResponse(byte[] response)
{
response = base.StripGrammar(response);
var axisStatus = new AxisStatus();
if ((response[1] & (int)StatusMidBitFlags.Running) == 0)
{
axisStatus.FullStop = true;
axisStatus.Tracking = false;
axisStatus.Goto = false;
}
else
{
// Axis is running
axisStatus.FullStop = false;
if ((response[0] & (int)StatusLoBitFlags.Tracking) == 0)
{
// Axis in Goto mode.
axisStatus.Goto = true;
axisStatus.Tracking = false;
}
else
{
// Axis in slewing(AstroMisc speed) mode.
axisStatus.Tracking = true;
axisStatus.Goto = false;
}
}
if ((response[1] & (int)StatusMidBitFlags.Blocked) == 0)
{
axisStatus.Blocked = false;
}
else
{
axisStatus.Blocked = true;
}
if ((response[0] & (int)StatusLoBitFlags.Direction) == 0)
{
axisStatus.SlewingClockWise = true;
}
else
{
axisStatus.SlewingClockWise = false;
}
if ((response[0] & (int)StatusLoBitFlags.Speed) == 0)
{
axisStatus.HighSpeed = false;
}
else
{
axisStatus.HighSpeed = true;
}
if ((response[2] & (int)StatusHiBitFlags.InitDone) == 0)
{
axisStatus.NotInitialized = true;
}
else
{
axisStatus.NotInitialized = false;
}
if ((response[2] & (int)StatusHiBitFlags.LevelSwitch) == 1)
{
axisStatus.LevelSwitchOn = true;
}
else
{
axisStatus.NotInitialized = false;
}
return(axisStatus);
}