/// <summary>
/// Internal Update Loop
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void UpdateLoop(object sender, DoWorkEventArgs e)
{
PIVarDirection dir = PIVarDirection.ePI_INPUT;
VAR_TYPE varT = VAR_TYPE.S_BYTE;
PI_VAR_UNION varUnion = new PI_VAR_UNION();
do
{
try
{
Thread.Sleep(LoopInterval);
KeyValuePair <CompBase, MMCSingleAxis>[] pairs = listAxis.ToArray();
foreach (KeyValuePair <CompBase, MMCSingleAxis> pair in pairs)
{
try
{
if (pair.Key is IOBoolChannel)
{
BoolInput[] inputs = pair.Key.RecursiveFilterByType <BoolInput>();
foreach (BoolInput input in inputs)
{
pair.Value.ReadPIVar((UInt16)(input.Channel), dir, varT, ref varUnion);
if (varUnion.s_byte == 1)
{
input.Value = true;
}
else
{
input.Value = false;
}
}
}
else
{
double dVal = pair.Value.GetActualPosition();
if (pair.Key is RealAxis)
{
(pair.Key as RealAxis).SetCurrentPosition(dVal);
(pair.Key as RealAxis).MoveDone = IsMotionDone(pair.Value);
}
else if (pair.Key is RealRotary)
{
(pair.Key as RealRotary).SetCurrentPosition(dVal);
(pair.Key as RealRotary).MoveDone = IsMotionDone(pair.Value);
}
BoolInput[] inputs = pair.Key.RecursiveFilterByType <BoolInput>();
foreach (BoolInput input in inputs)
{
input.Value = pair.Value.GetDigInput(input.Channel + 16) != 0;
}
}
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(pair.Value.ReadStatus() & plcStateMask);
if ((status & MC_STATE_SINGLE.ERROR_STOP) == MC_STATE_SINGLE.ERROR_STOP)
{
pair.Key.MachineStatus(string.Format("{0} ErrorStop", pair.Value.AxisName));
}
}
catch (MMCException ex)
{
U.LogPopup(ex, "MMC Update Error Axis {0}", pair.Key.Name);
}
}
}
catch (Exception ex)
{
U.LogError(ex, "Error UpdateLoop: ");
}
} while (!_destroy);
}
/// <summary>
/// Set a digital output
/// </summary>
/// <param name="boolOutput"></param>
/// <param name="value"></param>
public override void Set(BoolOutput boolOutput, bool value)
{
VAR_TYPE varT = VAR_TYPE.BYTE_ARR;
PI_VAR_UNION varUnion = new PI_VAR_UNION();
CompBase compAxis = boolOutput.GetParent <RealAxis>();
if (compAxis == null)
{
compAxis = boolOutput.GetParent <RealRotary>();
if (compAxis == null)
{
compAxis = boolOutput.GetParent <IOBoolChannel>();
}
}
if (listAxis.ContainsKey(compAxis))
{
try
{
MMCSingleAxis singleAxis = listAxis[compAxis];
if (compAxis is RealRotary)
{
int val = value ? 1 : 0;
//singleAxis.SetDigOutputs(boolOutput.Channel << 16, (byte)(value ? 0x1 : 0x0), 0x0);
singleAxis.SendIntCmdViaSDO(string.Format("OB[{0}]={1}", boolOutput.Channel, val), 1000);
}
else if (compAxis is RealAxis)
{
uint val = outputVal[compAxis];
uint chanBit = (uint)(1 << (16 + boolOutput.Channel));
if (value)
{
val |= chanBit;
}
else
{
val &= ~chanBit;
}
singleAxis.SetDigOutputs32Bit(0, val);
outputVal[compAxis] = val;
}
else
{
UInt16 index = (UInt16)boolOutput.Channel;
if (value)
{
varUnion.s_byte = 0;
}
else
{
varUnion.s_byte = 1;
}
singleAxis.WritePIVar(index, varUnion, varT);
}
boolOutput.Value = value;
//singleAxis.SetDigOutputs(chan, (byte)(value ? 1 : 0), (byte)1);
}
catch (Exception ex)
{
U.LogPopup(ex, "Trouble setting Digital Output ({0})", boolOutput.Name);
}
}
}