private int GetMinMaxPosFromAll(Enums.CtrlEgdeType ctrlEgdeType, Enums.StepsType stepsType)
{
int retValue = 0, pos = 0;
int min = int.MaxValue;
int max = int.MinValue;
switch (ctrlEgdeType)
{
case Enums.CtrlEgdeType.Min:
for (int i = 0; i < Actuators.Count; i++)
{
ChangeContext(i);
if (stepsType == Enums.StepsType.Steps)
{
pos = ActuatorInContext.GetCurrentPositionSteps(ActuatorInContext.DeviceID);
}
else if (stepsType == Enums.StepsType.MicroSteps)
{
pos = ActuatorInContext.GetCurrentPositionMicroSteps(ActuatorInContext.DeviceID);
}
if (min > pos)
{
min = pos;
}
}
retValue = pos;
break;
case Enums.CtrlEgdeType.Max:
for (int i = 0; i < Actuators.Count; i++)
{
ChangeContext(i);
if (stepsType == Enums.StepsType.Steps)
{
pos = ActuatorInContext.GetCurrentPositionSteps(ActuatorInContext.DeviceID);
}
else if (stepsType == Enums.StepsType.MicroSteps)
{
pos = ActuatorInContext.GetCurrentPositionMicroSteps(ActuatorInContext.DeviceID);
}
if (pos > max)
{
max = pos;
}
}
retValue = pos;
break;
default:
break;
}
return(retValue);
}
/// <summary>
/// Moves actuator to a specified position in steps and microsteps <br/>
/// Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.MoveToPosition() <br/>
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
/// <param name="positionSteps">absolute value in actuator steps, of type int</param>
/// <param name="positionMicrosteps">absolute value in actuator microsteps, of type int</param>
public void ActuatorMoveToPosition(int deviceID, int positionSteps, int positionMicrosteps)
{
if (ActuatorInContext.MoveToPosition(deviceID, positionSteps, positionMicrosteps) == Result.ok)
{
//Task asyncTask = Task.Run(() =>
//{
// if (ActuatorInContext.WaitForStopWhile(deviceID, 0) == Result.ok)
// logController.LogActuatorInfo(Enums.ActuatorLog.MoveToPosition, ActuatorInContext, Enums.ActuatorLogTiming.Finish);
//});
}
}
/// <summary>
/// Move the actuator continuously to the right (expanding motion) <br/>
///Note that Controller.ActuatorController.MoveContinuouslyRight() is not called because it is marked as unsafe <br/>
///Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.MoveToPosition()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
/// <param name="maxEdgeSoftware">represents maximum steps value to which an actuator can move, refers to
/// View.ActuatorPositionSoftwareLimits.MaxEdgePositionStepsAllDevices, of type int</param>
// MoveContinuouslyRight is unsafe! Using MoveToPosition instead
public void ActuatorMoveContinuouslyRight(int deviceID, int maxEdgeSoftware)
{
if (ActuatorInContext.MoveToPosition(deviceID, maxEdgeSoftware, 0) == Result.ok)
{
//Task asyncTask = Task.Run(() =>
//{
// if (ActuatorInContext.WaitForStopWhile(deviceID, 0) == Result.ok)
// logController.LogActuatorInfo(Enums.ActuatorLog.MoveToPosition, ActuatorInContext, Enums.ActuatorLogTiming.Finish);
//});
}
}
/// <summary>
/// Moves the actuator by a specified delta in steps and microsteps <br/>
///Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.MoveRelatively()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
/// <param name="deltaSteps">relative actuator steps value, of type int</param>
/// <param name="deltaMicrosteps">relative actuator microsteps value, of type int</param>
public void ActuatorMoveRelatively(int deviceID, int deltaSteps, int deltaMicrosteps)
{
if (ActuatorInContext.MoveRelatively(deviceID, deltaSteps, deltaMicrosteps) == Result.ok)
{
//Task asyncTask = Task.Run(() =>
//{
// if (ActuatorInContext.WaitForStopWhile(deviceID, 0) == Result.ok)
// logController.LogActuatorInfo(Enums.ActuatorLog.MoveRelatively, ActuatorInContext, Enums.ActuatorLogTiming.Finish);
//});
}
}
/// <summary>
/// Moves the actuator to its home position <br/>
/// Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.MoveToHomePosition()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
public void MoveHome(int deviceID)
{
if (ActuatorInContext.MoveToHomePosition(deviceID) == Result.ok)
{
//Task asyncTask = Task.Run(() =>
//{
// if (ActuatorInContext.WaitForStopWhile(deviceID, 0) == Result.ok)
// logController.LogActuatorInfo(Enums.ActuatorLog.MoveHome, ActuatorInContext, Enums.ActuatorLogTiming.Finish);
//});
}
}
/// <summary>
/// Performs an instant stop of the actuator <br/>
///Not recommended because of potential hardware stress. Consider using Controller.MainController.ActuatorSoftStop() instead <br/>
///Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.HardStop()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
public void ActuatorHardStop(int deviceID)
{
if (ActuatorInContext.GetStatus(ActuatorInContext.DeviceID).CurSpeed != 0 || ActuatorInContext.GetStatus(ActuatorInContext.DeviceID).uCurSpeed != 0)
{
if (ActuatorInContext.HardStop(deviceID) == Result.ok)
{
//Task asyncTask = Task.Run(() =>
//{
// if (ActuatorInContext.WaitForStopWhile(deviceID, 0) == Result.ok)
// logController.LogActuatorInfo(Enums.ActuatorLog.HardStop, ActuatorInContext, Enums.ActuatorLogTiming.Finish);
//});
}
}
}
public int GetActuatorPositionByAxis(Enums.Axis axis)
{
switch (axis)
{
case Enums.Axis.X:
ChangeContextByAxis(Enums.Axis.X);
break;
case Enums.Axis.Y:
ChangeContextByAxis(Enums.Axis.Y);
break;
}
return(ActuatorInContext.GetCurrentPositionSteps(ActuatorInContext.DeviceID));
}
/// <summary>
/// Deprecated. Thread was tasked with executing work used for checking for newly connected actuators.
/// by calling Controller.ActuatorErrorHandler.CheckForActuatorErrors()
/// </summary>
/// <param name="obj"></param>
/// <param name="e"></param>
// TO DELETE
void bgWorkerErrorPollingProgressChanged(object obj, ProgressChangedEventArgs e)
{
if (ActuatorInContext.DeviceID != -1)
{
actuatorErrorHandler.CheckForActuatorErrors(ActuatorInContext.GetStatus(ActuatorInContext.DeviceID));
}
// If device is -1, meaning that actuator got disconncted
else
{
// Try to get another actuator in context, the first one found in the list
if (Actuators.Count > 0)
{
ChangeContext(Actuators.List[0].DeviceID);
}
// Await actuator connection
else
{
}
}
}
public void ActuatorSetZero(int deviceID)
{
ActuatorInContext.SetZeroPosition(deviceID);
}
/// <summary>
/// Powers off selected actuator <br/>
///Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.PowerOff()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
public void ActuatorPowerOff(int deviceID)
{
ActuatorInContext.PowerOff(deviceID);
}
/// <summary>
/// Hazardous. Calibrates the position of connected actuators <br/>
/// Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.CalibrateMovement()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
/// <returns></returns>
public List <int> ActuatorCalibrateMovement(int deviceID)
{
return(ActuatorInContext.CalibrateMovement(deviceID));
}
/// <summary>
/// Closes the connection to an actuator <br/>
/// Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.CloseDevice()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
public void ActuatorCloseDevice(int deviceID)
{
ActuatorInContext.CloseDevice(ref deviceID);
}
