public ControlPageViewModel(
[NotNull] INavigationService navigationService,
[NotNull] IMountInfo mountInfo)
: base(navigationService)
{
this._mountInfo = mountInfo;
Title = "Control Page";
}
public void SetMountInfo([NotNull] IMountInfo mountInfo)
{
if (mountInfo is null)
{
throw new ArgumentNullException(nameof(mountInfo), "Value cannot be null");
}
this._mountInfo = mountInfo;
}
public MountControl([NotNull] UdpClient udpClient,
[NotNull] IMountControlCommandBuilder commandBuilder,
[NotNull] IMountControlCommandParser commandParser,
[NotNull] IMountCommonCommandBuilder commonCommandBuilder,
[NotNull] IMountCommonCommandParser commonCommandParser,
[NotNull] IMountInfo mountInfo) : base(udpClient, commonCommandBuilder, commonCommandParser)
{
this._commandBuilder = commandBuilder;
this._commandParser = commandParser;
this._mountInfo = mountInfo;
}
public async Task Handshake(IMountInfo mountInfo)
{
mountInfo.MountState = new MountState();
await this.QueryExtendedStatus(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.ResetRxBuffer(mountInfo).ConfigureAwait(false);
await this.GetMotorBoardVersion(mountInfo).ConfigureAwait(false);
await this.QueryCountsPerRevolution(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.QueryCountsPerRevolution(mountInfo, MountAxis.UpDown).ConfigureAwait(false);
await this.QueryTimerInteruptFrequency(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.QueryTimerInteruptFrequency(mountInfo, MountAxis.UpDown).ConfigureAwait(false);
await this.QueryHighSpeedRatio(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.QueryHighSpeedRatio(mountInfo, MountAxis.UpDown).ConfigureAwait(false);
await this.QueryAxisPosition(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.QueryAxisPosition(mountInfo, MountAxis.UpDown).ConfigureAwait(false);
await this.FinaliseInitialisation(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.FinaliseInitialisation(mountInfo, MountAxis.UpDown).ConfigureAwait(false);
await this.QueryStatus(mountInfo, MountAxis.LeftRight).ConfigureAwait(false);
await this.QueryStatus(mountInfo, MountAxis.UpDown).ConfigureAwait(false);
// Default break steps
mountInfo.MountState.BreakSteps[(int)MountAxis.LeftRight] = 3500;
mountInfo.MountState.BreakSteps[(int)MountAxis.UpDown] = 3500;
Device.BeginInvokeOnMainThread(() => this.ConnectedMounts.Add(mountInfo));
}
private async Task GetMotorBoardVersion(IMountInfo mountInfo)
{
byte[] mcVersionCommand = this._commandBuilder.BuildGetMotorBoardVersionCommand(MountAxis.LeftRight);
byte[] mcVersionResponse = await this.SendRecieveCommand(mountInfo.WifiMount, mcVersionCommand).ConfigureAwait(false);
if (!base.ValidateResponse(mcVersionResponse))
{
await this.GetMotorBoardVersion(mountInfo).ConfigureAwait(false);
return;
}
mountInfo.MountState.MountControllerVersion = this._commandParser.ParseMotorBoardResponse(mcVersionResponse);
}
private async Task QueryCountsPerRevolution(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commandBuilder.BuildGetCountsPerRevolutionCommand(axis);
byte[] response = await this.SendRecieveCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
if (!base.ValidateResponse(response))
{
return;
}
double gearRatio = this._commandParser.ParseCountsPerRevolutionRepsonse(response, mountInfo.MountState.MountControllerVersion);
mountInfo.MountState.StepCoefficients[(int)axis] = new StepCoefficients(gearRatio);
}
private async Task QueryHighSpeedRatio(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commandBuilder.BuildGetHighSpeedRatioCommand(axis);
byte[] response = await this.SendRecieveCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
if (!base.ValidateResponse(response))
{
return;
}
double ratio = this._commandParser.ParseHighSpeedRatioResponse(response);
mountInfo.MountState.HighSpeedRatio[(int)axis] = ratio;
}
private async Task QueryExtendedStatus(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commonCommandBuilder.BuildGetStatusExCommand(axis, "010000");
byte[] response = await this.SendRecieveCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
if (!base.ValidateResponse(response))
{
return;
}
AxisStatusEx statusEx = this._commonCommandParser.ParseExtendedStatusResponse(response);
mountInfo.MountState.AxesStatusExtended[(int)axis] = statusEx;
}
private async Task QueryTimerInteruptFrequency(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commandBuilder.BuildGetTimerInterruptFreqCommand(axis);
byte[] response = await this.SendRecieveCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
if (!base.ValidateResponse(response))
{
return;
}
double timerFreq = this._commandParser.ParseTimerInterruptFreqResponse(response);
mountInfo.MountState.TimerInterruptFrequencies[(int)axis] = timerFreq;
mountInfo.MountState.MotorInterval[(int)axis] = Conversion.CalculateMotorInterval(mountInfo.MountState.StepCoefficients[(int)axis].FactorRadToStep, timerFreq);
}
private async Task QueryAxisPosition(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commonCommandBuilder.BuildGetAxisPositionCommand(axis);
byte[] response = await this.SendRecieveCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
if (!base.ValidateResponse(response))
{
return;
}
double steps = this._commonCommandParser.ParseAxisPositionResponse(response);
mountInfo.MountState.AxisPositions[(int)axis] = Conversion.StepToAngle(mountInfo.MountState.StepCoefficients[(int)axis].FactorStepToRad, steps);
mountInfo.MountState.AxisSexagesimalAngles[(int)axis] = SexagesimalAngle.FromDouble(Maths.RadToDeg(mountInfo.MountState.AxisPositions[(int)axis]));
}
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 MainPageViewModel(
[NotNull] INavigationService navigationService,
[NotNull] IMountDiscovery mountDiscovery,
[NotNull] IMountOptions mountOptions,
[NotNull] IMountInfo mountInfo)
: base(navigationService)
{
Title = "Main Page";
this.MountDiscovery = mountDiscovery;
this._mountOptions = mountOptions;
this._currentAppMountInfo = mountInfo;
FindMountsAsync = new AsyncCommand(ExecuteFindMountsAsync);
RestartDiscoveryAsync = new AsyncCommand(ExecuteRestartDiscoveryAsync);
SelectionChangedCommand = new DelegateCommand(this.OnSelectionChangedCommandExecuted);
}
public MountMotion([NotNull] IMountControl mountControl, [NotNull] IMountInfo mountInfo)
{
this._mountControl = mountControl;
this._mountInfo = mountInfo;
}
private Task ResetRxBuffer(IMountInfo mountInfo)
{
byte[] rxBuffer = this._commandBuilder.BuildResetRxBufferCommand();
return(this.SendCommand(mountInfo.WifiMount, rxBuffer));
}
private async Task FinaliseInitialisation(IMountInfo mountInfo, MountAxis axis)
{
byte[] command = this._commandBuilder.BuildFinaliseInitialisationCommand(axis);
await this.SendCommand(mountInfo.WifiMount, command).ConfigureAwait(false);
}
