/// <summary>
/// Implicit constructor function
/// </summary>
public ActuatorController()
{
actuatorErrorHandler = new ActuatorErrorHandler();
logController = new LogController();
callback = new API.LoggingCallback(MyLog);
API.set_logging_callback(callback, IntPtr.Zero);
}
public Form1()
{
InitializeComponent();
DateTime time = DateTime.Now;
Console.WriteLine("testapp CLR runtime version: " + Assembly.GetExecutingAssembly().ImageRuntimeVersion);
foreach (Assembly a in AppDomain.CurrentDomain.GetAssemblies())
{
if (a.GetName().Name.Equals("ximcnet"))
{
Console.WriteLine("ximcnet CLR runtime version: " + a.ImageRuntimeVersion);
}
}
Console.WriteLine("Current CLR runtime version: " + Environment.Version.ToString());
callback = new API.LoggingCallback(MyLog);
API.set_logging_callback(callback, IntPtr.Zero);
}
static void Main(string[] args)
{
int device = -1;
Result res;
try
{
Console.WriteLine("testapp CLR runtime version: " + Assembly.GetExecutingAssembly().ImageRuntimeVersion);
foreach (Assembly a in AppDomain.CurrentDomain.GetAssemblies())
{
if (a.GetName().Name.Equals("ximcnet"))
{
Console.WriteLine("ximcnet CLR runtime version: " + a.ImageRuntimeVersion);
}
}
Console.WriteLine("Current CLR runtime version: " + Environment.Version.ToString());
callback = new API.LoggingCallback(MyLog);
API.set_logging_callback(callback, IntPtr.Zero);
// Pointer to device enumeration structure
IntPtr device_enumeration;
// Probe flags, used to enable various enumeration options
const int probe_flags = (int)(Flags.ENUMERATE_PROBE | Flags.ENUMERATE_NETWORK);
// Enumeration hint, currently used to indicate ip address for network enumeration
String enumerate_hints = "addr=192.168.1.1,172.16.2.3";
// String enumerate_hints = "addr="; // this hint will use broadcast enumeration, if ENUMERATE_NETWORK flag is enabled
// Sets bindy (network) keyfile. Must be called before any call to "enumerate_devices" or "open_device" if you
// wish to use network-attached controllers. Accepts both absolute and relative paths, relative paths are resolved
// relative to the process working directory. If you do not need network devices then "set_bindy_key" is optional.
API.set_bindy_key("keyfile.sqlite");
// Enumerates all devices
device_enumeration = API.enumerate_devices(probe_flags, enumerate_hints);
if (device_enumeration == null)
{
throw new Exception("Error enumerating devices");
}
// Gets found devices count
int device_count = API.get_device_count(device_enumeration);
// List all found devices
for (int i = 0; i < device_count; ++i)
{
// Gets device name
String dev = API.get_device_name(device_enumeration, i);
System.Console.WriteLine("Found device {0}", dev);
}
// Get first device name or command-line arg
String deviceName;
if (device_count > 0)
{
deviceName = API.get_device_name(device_enumeration, 0);
}
else if (args.Length > 0)
{
deviceName = args[0];
}
else
{
throw new Exception("No devices");
}
System.Console.WriteLine("Using device {0}", deviceName);
// Open this device
device = API.open_device(deviceName);
Console.WriteLine("Device {0}", device);
StringBuilder versb = new StringBuilder(256);
API.ximc_version(versb);
Console.WriteLine("XIMC version: {0}", versb.ToString());
status_t status;
// Read device status
res = API.get_status(device, out status);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
print_status(status);
device_information_t di;
res = API.get_device_information(device, out di);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
Console.WriteLine("Manufacturer {0}", di.Manufacturer);
// Send "zero" command to device
res = API.command_zero(device);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
Thread.Sleep(2);
// Read device status
res = API.get_status(device, out status);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
print_status(status);
Console.WriteLine("running...");
// Send "move to the right" command to the device
res = API.command_right(device);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
int shift = 0;
Thread.Sleep(3 * 1000);
// Read device status
res = API.get_status(device, out status);
shift -= status.CurPosition;
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
print_status(status);
status_calb_t status_calb;
engine_settings_t engine_settings;
res = API.get_engine_settings(device, out engine_settings);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
calibration_t calibration = new calibration_t();
calibration.A = 0.1;
calibration.MicrostepMode = Math.Max(1, engine_settings.MicrostepMode);
// Read calibrated device status
res = API.get_status_calb(device, out status_calb, ref calibration);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
print_status_calb(status_calb);
res = API.get_status(device, out status);
shift += status.CurPosition;
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
Console.WriteLine("waiting for stop...");
res = API.command_move(device, shift, 0);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
// Wait for stop of the device
res = API.command_wait_for_stop(device, 100);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
// Read device status
res = API.get_status(device, out status);
if (res != Result.ok)
{
throw new Exception("Error " + res.ToString());
}
print_status(status);
Console.WriteLine("Done...");
}
catch (Exception e)
{
Console.WriteLine("Exception " + e.Message);
Console.WriteLine(e.StackTrace.ToString());
}
finally
{
if (device != -1)
{
API.close_device(ref device);
}
}
//Console.ReadKey();
}
