/// <summary>
/// Create Bulk status record
/// </summary>
public static KM_MainStatus GetStatus
(
int versionandsize,
int[] adc,
int[] dac,
int[] pwm,
double[] position,
double[] destination,
int[] outputchan0,
int inputmodes,
int inputmodes2,
int outputmodes,
int outputmodes2,
int enables,
int axisdone,
int[] bitsdirection,
int[] bitsstate,
int snapbitsdirection0,
int snapbitsdirection1,
int snapbitsstate0,
int snapbitsstate1,
int kanalgobitsstateinputs,
int kanalogbitsstateoutputs,
int runonstartup,
int threadactive,
int stopimmediatestate,
double timestamp,
int[] pccomm,
int virtualbits,
int virtualbitsex0
)
{
KM_MainStatus retval = new KM_MainStatus();
retval._VersionAndSize = versionandsize;
retval._ADC = adc;
retval._DAC = dac;
retval._PWM = pwm;
retval._Position = position;
retval._Destination = destination;
retval._OutputChan0 = outputchan0;
retval._InputModes = inputmodes;
retval._InputModes2 = inputmodes2;
retval._OutputModes = outputmodes;
retval._OutputModes2 = outputmodes2;
retval._Enables = enables;
retval._AxisDone = axisdone;
retval._BitsDirection = bitsdirection;
retval._BitsState = bitsstate;
retval._SnapBitsDirection0 = snapbitsdirection0;
retval._SnapBitsDirection1 = snapbitsdirection1;
retval._SnapBitsState0 = snapbitsstate0;
retval._SnapBitsState1 = snapbitsstate1;
retval._KanalogBitsStateInputs = kanalgobitsstateinputs;
retval._KanalogBitsStateOutputs = kanalogbitsstateoutputs;
retval._RunOnStartUp = runonstartup;
retval._ThreadActive = threadactive;
retval._StopImmediateState = stopimmediatestate;
retval._TimeStamp = timestamp;
retval._PC_comm = pccomm;
retval._VirtualBits = virtualbits;
retval._VirtualBitsEx0 = virtualbitsex0;
retval._TicksAtUpdate = Environment.TickCount;
return retval;
}
/// <summary>
/// Create Bulk status record
/// </summary>
/// <param name="versionandsize">packed Version and size</param>
/// <param name="adc">adc value array</param>
/// <param name="dac">dac value array</param>
/// <param name="pwm">Snap Amp PWM value array</param>
/// <param name="position">position value array</param>
/// <param name="destination">destination value array</param>
/// <param name="outputchan0">packed output channel 0 array</param>
/// <param name="inputmodes">packed input modes channels 0-3</param>
/// <param name="inputmodes2">packed input modes channels 4-7</param>
/// <param name="outputmodes">packed output modes channels 0-3</param>
/// <param name="outputmodes2">packed output modes channels 4-7</param>
/// <param name="enables">packed Enables</param>
/// <param name="axisdone">packed axisdone</param>
/// <param name="bitsdirection">packed bit direction array</param>
/// <param name="bitsstate">packed bit state array</param>
/// <param name="snapbitsdirection0">packed bit directions for SnapAmp 0</param>
/// <param name="snapbitsdirection1">packed bit directions for SnapAmp 1</param>
/// <param name="snapbitsstate0">packed bit states for SnapAmp 0</param>
/// <param name="snapbitsstate1">packed bit states for SnapAmp 1</param>
/// <param name="kanalgobitsstateinputs">packed input bit states for Kanalog</param>
/// <param name="kanalogbitsstateoutputs">packed output bit states for Kanalo</param>
/// <param name="runonstartup">packed startup bits for User Threads</param>
/// <param name="threadactive">packed Thread Active bits for User Threads</param>
/// <param name="stopimmediatestate">Feed Hold Status State</param>
/// <param name="timestamp">Timestamp - time since KFLOP boot of Status capture</param>
/// <param name="pccomm">KFLOP Persist variables included in Status for communication</param>
/// <param name="virtualbits">packed bit states for Virtual bits</param>
/// <param name="virtualbitsex0">packed bit states for first 32 Extended Virtual bits</param>
/// <returns>0=successful</returns>
public static KM_MainStatus GetStatus
(
int versionandsize,
int[] adc,
int[] dac,
int[] pwm,
double[] position,
double[] destination,
int[] outputchan0,
int inputmodes,
int inputmodes2,
int outputmodes,
int outputmodes2,
int enables,
int axisdone,
int[] bitsdirection,
int[] bitsstate,
int snapbitsdirection0,
int snapbitsdirection1,
int snapbitsstate0,
int snapbitsstate1,
int kanalgobitsstateinputs,
int kanalogbitsstateoutputs,
int runonstartup,
int threadactive,
int stopimmediatestate,
double timestamp,
int[] pccomm,
int virtualbits,
int virtualbitsex0
)
{
KM_MainStatus retval = new KM_MainStatus();
retval._VersionAndSize = versionandsize;
retval._ADC = adc;
retval._DAC = dac;
retval._PWM = pwm;
retval._Position = position;
retval._Destination = destination;
retval._OutputChan0 = outputchan0;
retval._InputModes = inputmodes;
retval._InputModes2 = inputmodes2;
retval._OutputModes = outputmodes;
retval._OutputModes2 = outputmodes2;
retval._Enables = enables;
retval._AxisDone = axisdone;
retval._BitsDirection = bitsdirection;
retval._BitsState = bitsstate;
retval._SnapBitsDirection0 = snapbitsdirection0;
retval._SnapBitsDirection1 = snapbitsdirection1;
retval._SnapBitsState0 = snapbitsstate0;
retval._SnapBitsState1 = snapbitsstate1;
retval._KanalogBitsStateInputs = kanalgobitsstateinputs;
retval._KanalogBitsStateOutputs = kanalogbitsstateoutputs;
retval._RunOnStartUp = runonstartup;
retval._ThreadActive = threadactive;
retval._StopImmediateState = stopimmediatestate;
retval._TimeStamp = timestamp;
retval._PC_comm = pccomm;
retval._VirtualBits = virtualbits;
retval._VirtualBitsEx0 = virtualbitsex0;
retval._TicksAtUpdate = Environment.TickCount;
return(retval);
}
private void timer1_Tick(object sender, EventArgs e)
{
int []List;
int nBoards = 0;
// check how many boards connected
List = KM.GetBoards(out nBoards);
if (nBoards > 0)
{
this.Text = String.Format("Dynomotion Fiducial Alignment - Connected");
}
else
{
this.Text = "Dynomotion Fiducial Alignment - Disconnected";
}
if (KM.WaitToken(100) == KMOTION_TOKEN.KMOTION_LOCKED)
{
try
{
MainStatus = KM.GetStatus(false); // we already have a lock
KM.ReleaseToken();
XPos.Text = String.Format("{0:F4}", ConvertToUser(MainStatus.Destination[0] / XResolution));
YPos.Text = String.Format("{0:F4}", ConvertToUser(MainStatus.Destination[1] / YResolution));
}
catch (DMException ex) // in case disconnect in the middle of reading status
{
KM.ReleaseToken();
MessageBox.Show(ex.InnerException.Message);
}
}
}
private void UpdateStatus()
{
int[] List;
int nBoards = 0;
// check how many boards connected
List = KM.GetBoards(out nBoards);
if (nBoards > 0)
{
this.Text = String.Format("Teach Motion - Connected - USB location {0:X}", List[0]);
}
else
{
this.Text = "Teach Motion - Disconnected";
}
if (KM.WaitToken(100) == KMOTION_TOKEN.KMOTION_LOCKED)
{
try
{
MainStatus = KM.GetStatus(false); // we already have a lock
KM.ReleaseToken();
XPos.Text = String.Format("{0:F4}", MainStatus.Destination[0] / XResolution);
YPos.Text = String.Format("{0:F4}", MainStatus.Destination[1] / YResolution);
XEnabled.Checked = (MainStatus.Enables & (1 << 0)) != 0;
YEnabled.Checked = (MainStatus.Enables & (1 << 1)) != 0;
if (CaptureOn.Checked)
CapList.Add(new CPoint(MainStatus.Destination[1] / YResolution,
MainStatus.Destination[0] / XResolution,
MainStatus.TimeStamp));
}
catch (DMException ex) // in case disconnect in the middle of reading status
{
KM.ReleaseToken();
MessageBox.Show(ex.InnerException.Message);
}
}
}
