/// <summary>
/// Create a command for movement. Only the "data" field is sent to the MCU; the rest of the fields
/// exist for internal tracking and estimations within the MCU manager.
/// </summary>
/// <param name="data"></param>
/// <param name="CMDType"></param>
/// <param name="azDir"></param>
/// <param name="elDir"></param>
/// <param name="AZSpeed"></param>
/// <param name="ElSpeed"></param>
public MCUCommand(ushort[] data, MCUCommandType CMDType, RadioTelescopeDirectionEnum azDir, RadioTelescopeDirectionEnum elDir, int AZSpeed, int ElSpeed)
{
CommandType = CMDType;
commandData = data;
AzimuthDirection = azDir;
ElevationDirection = elDir;
AzimuthSpeed = AZSpeed;
ElevationSpeed = ElSpeed;
}
/// <summary>
/// Method used to request to start jogging the Radio Telescope's elevation
/// at a speed (in RPM), in either the clockwise or counter-clockwise direction.
/// </summary>
public MovementResult StartRadioTelescopeJog(double speed, RadioTelescopeDirectionEnum direction, RadioTelescopeAxisEnum axis)
{
MovementResult result = MovementResult.None;
// Return if incoming priority is equal to or less than current movement
if ((MovementPriority.Jog - 1) <= RadioTelescope.PLCDriver.CurrentMovementPriority)
{
return(MovementResult.AlreadyMoving);
}
// We only want to do this if it is safe to do so. Return false if not
if (!AllSensorsSafe)
{
return(MovementResult.SensorsNotSafe);
}
// If a lower-priority movement was running, safely interrupt it.
if (RadioTelescope.PLCDriver.InterruptMovementAndWaitUntilStopped())
{
return(MovementResult.StoppingCurrentMove);
}
// If the thread is locked (two moves coming in at the same time), return
if (Monitor.TryEnter(MovementLock))
{
RadioTelescope.PLCDriver.CurrentMovementPriority = MovementPriority.Jog;
double azSpeed = 0;
double elSpeed = 0;
if (axis == RadioTelescopeAxisEnum.AZIMUTH)
{
azSpeed = speed;
}
else
{
elSpeed = speed;
}
result = RadioTelescope.PLCDriver.StartBothAxesJog(azSpeed, direction, elSpeed, direction);
Monitor.Exit(MovementLock);
}
else
{
result = MovementResult.AlreadyMoving;
}
return(result);
}
public override MovementResult StartBothAxesJog(double azSpeed, RadioTelescopeDirectionEnum azDirection, double elSpeed, RadioTelescopeDirectionEnum elDirection)
{
return(driver.StartBothAxesJog(azSpeed, azDirection, elSpeed, elDirection));
}
public abstract MovementResult StartBothAxesJog(double azSpeed, RadioTelescopeDirectionEnum azDirection, double elSpeed, RadioTelescopeDirectionEnum elDirection);
/// <summary>
/// speed in RPM
/// </summary>
/// <param name="azSpeed"></param>
/// <param name="azDirection"></param>
/// <param name="elSpeed"></param>
/// <param name="elDirection"></param>
/// <returns></returns>
public override MovementResult StartBothAxesJog(double azSpeed, RadioTelescopeDirectionEnum azDirection, double elSpeed, RadioTelescopeDirectionEnum elDirection)
{
return(MCU.SendBothAxesJog(Math.Abs(azSpeed), azDirection, Math.Abs(elSpeed), elDirection));
}
public override MovementResult StartBothAxesJog(double azSpeed, RadioTelescopeDirectionEnum azDirection, double elSpeed, RadioTelescopeDirectionEnum elDirection)
{
throw new NotImplementedException();
}
