public MoveClickEventArgs(MotorMove mv, Axe a, Sens s, Couronne c)
{
MotorMove = mv;
Axe = a;
Sens = s;
Couronne = c;
}
private void moveClick(object sender, EventArgs e)
{
var txt = (sender as Button)?.Tag as string;
if (txt?.Length != 3)
{
return; // le tag du bouton doit être de la forme X2+ (X:axe, 2:nieme courronne, +:sens)
}
Axe axe;
if (!Enum.TryParse <Axe>(txt[0].ToString(), out axe))
{
return;
}
var mv = new MotorMove(axe);
int sens;
switch (txt[2])
{
case '+':
sens = 1;
break;
case '-':
sens = -1;
break;
default:
return;
}
Couronne couronne;
switch (txt[1])
{
case '1':
mv.MaxMovesCount = sens;
couronne = Couronne.Max;
break;
case '2':
mv.MidMaxMovesCount = sens;
couronne = Couronne.MidMax;
break;
case '3':
mv.MidMinMovesCount = sens;
couronne = Couronne.MidMin;
break;
default:
return;
}
MoveClick(sender, new MoveClickEventArgs(mv, axe, (Sens)sens, couronne));
}
public void BlockingMove(MotorMove mv, TimeSpan timeout)
{
var config = GetHardwareConfig();
if (config.Simulated)
{
System.Threading.Thread.Sleep(mv.QuarterNumber * config.SimulatedTime);
return;
}
byte[] m = new byte[2] {
0xFF, 0xFF
};
int[] r = new int[2] {
0, 0
};
Motor[] motors;
using (var state = GlobalState.GetState())
{
motors = state.Motors.Motors.Where((x) => x.Axe == mv.Axe && x.Board == this.Index).Select((x) => (Motor)x.Clone()).ToArray();
}
if (motors.Count() == 0)
{
return;
}
else if (motors.Count() > 2)
{
throw new Exception("Il ne peut pas y avoir plus de deux moteurs pas à pas pilotés en même temps pour des questions de performance");
}
using (var state = GlobalState.GetState())
{
for (int i = 0; i < motors.Length; i++)
{
m[i] = motors[i].Index;
//r[i] = state.HardwareConfigGlobal.ConvertMoveToSteps(mv.GetMoves(motors[i].Courronne), motors[i].Inverted);
}
}
// pas de mouvement, rien ne sert d'envoyer 0
if (r[0] == 0 && r[1] == 0)
{
return;
}
AssertConnectedAndConfigured(config);
var ret = BlockingMove(timeout, m[0], r[0], m[1], r[1]);
if (!ret.Value)
{
throw new Exception("Impossible d'exécuter le mouvement " + mv.ToString());
}
}
private void btnTestMotorMoves_Click(object sender, EventArgs e)
{
Axe axe;
if (Enum.TryParse <Axe>(cbAxe.Text, out axe))
{
var mv = new MotorMove(axe);
mv.MaxMovesCount = (int)udCourronneMax.Value;
mv.MidMaxMovesCount = (int)udCourronneMidMax.Value;
mv.MidMinMovesCount = (int)udCourronneMidMin.Value;
ExecuteMachineMove(mv);
}
}
public void ExecuteMachineMove(MotorMove mv)
{
int[] moves = { 0, mv.MaxMovesCount, mv.MidMaxMovesCount, mv.MidMinMovesCount };
int[,] indexes = { { 1, 3 }, { 1, 2 }, { 1, 1 }, { 2, 3 }, { 2, 2 }, { 3, 3 } };
while (moves[1] != 0 || moves[2] != 0 || moves[3] != 0)
{
for (int i = 0; i < indexes.Length / 2; i++)
{
int startLayer = indexes[i, 0];
int endLayer = indexes[i, 1];
int amount = moves[startLayer];
for (int j = startLayer + 1; j <= endLayer; j++)
{
if (Math.Sign(moves[j]) != Math.Sign(amount))
{
amount = 0;;
break;
}
else if (amount > 0 && moves[j] < amount || amount <0 && moves[j]> amount)
{
amount = moves[j];
}
}
if (amount != 0)
{
for (int j = startLayer; j <= endLayer; j++)
{
moves[j] -= amount;
}
Move(mv.Axe, startLayer, endLayer, amount);
break;
}
}
}
}
