public void SetPositionLimitsMode(PTPositionLimitsMode mode)
{
switch (mode)
{
case PTPositionLimitsMode.Disabled:
Byte result1 = _c.GetByte(PTCommand.SetPositionLimitsDisabled);
ValidateResult(result1);
break;
case PTPositionLimitsMode.Factory:
Byte result2 = _c.GetByte(PTCommand.SetPositionLimitsEnabled);
ValidateResult(result2);
break;
case PTPositionLimitsMode.User:
String response = AsciiExchange(PTAsciiCommand.SetPositionLimitsUser, _defaultTimeout);
ValidateResult(response);
break;
}
}
public void Initialize()
{
_c.ResetParser();
_c.SetTimeout(_defaultTimeout);
this.SetSpeedMode(PTSpeedControlMode.Independent);
this.SetCommandMode(PTCommandMode.Immediate);
_panResolution = this.GetPanPositionResolutionArcs();
_tiltResolution = this.GetTiltPositionResolutionArcs();
_panStepMode = this.GetPanStepMode();
_tiltStepMode = this.GetTiltStepMode();
_limitsMode = this.GetPositionLimitsMode();
}
/// <summary>Determines the current position limits mode by toying with the unit. This method is blocking.</summary>
public PTPositionLimitsMode GetPositionLimitsMode()
{
// if disabled, return
// record the current position limits
// then explicitly set to factory
// record the limits
// then explicitly set to user
// record the limits
// see which limits refer to the original limits
// then set the position limits mode to what it was originally
if (!GetPositionLimitsEnabled())
{
return(PTPositionLimitsMode.Disabled);
}
short oPanMin = GetPanPositionLimitMin();
short oPanMax = GetPanPositionLimitMax();
short oTilMin = GetTiltPositionLimitMin();
short oTilMax = GetTiltPositionLimitMax();
SetPositionLimitsMode(PTPositionLimitsMode.User);
short uPanMin = GetPanUserPositionLimitMin();
short uPanMax = GetPanUserPositionLimitMax();
short uTilMin = GetTiltUserPositionLimitMin();
short uTilMax = GetTiltUserPositionLimitMax();
SetPositionLimitsMode(PTPositionLimitsMode.Factory);
short fPanMin = GetPanPositionLimitMin();
short fPanMax = GetPanPositionLimitMax();
short fTilMin = GetTiltPositionLimitMin();
short fTilMax = GetTiltPositionLimitMax();
///////////////////////////////////
PTPositionLimitsMode mode = PTPositionLimitsMode.Disabled;
// note that this approach falls apart if user limits are enabled, and user limits equal the factory limits
// because switching between user mode and factory mode yields the same limits, so there is no way to know
// oo-er!
// the only way I can think of is to explicitly set a user limit to a known value, then compare, then restore
if (oPanMin == fPanMin &&
oPanMax == fPanMax &&
oTilMin == fTilMin &&
oTilMax == fTilMax)
{
// user mode
mode = PTPositionLimitsMode.Factory;
}
else if (
oPanMin == uPanMin &&
oPanMax == uPanMax &&
oTilMin == uTilMin &&
oTilMax == uTilMax)
{
mode = PTPositionLimitsMode.User;
}
else
{
SetPositionLimitsMode(mode);
throw new PTControllerException("Could not determine position limits mode");
}
SetPositionLimitsMode(mode);
return(mode);
}
