Esempio n. 1
0
        static void Main(string[] args)
        {
            TCubeDCServo.RegisterDevice();
            KCubeDCServo.RegisterDevice();

            // get parameters from command line
            int argc = args.Count();

            if (argc < 1)
            {
                Console.WriteLine("Usage = DC_Console_net_managed [serial_no] [position: optional (0 - 50)] [velocity: optional (0 - 5)]");
                Console.ReadKey();
                return;
            }

            decimal position = 0m;

            if (argc > 1)
            {
                position = decimal.Parse(args[1]);
            }

            decimal velocity = 0m;

            if (argc > 2)
            {
                velocity = decimal.Parse(args[2]);
            }

            string serialNo = args[0];

            try
            {
                // build device list
                DeviceManagerCLI.BuildDeviceList();
            }
            catch (Exception ex)
            {
                Console.WriteLine("Exception raised by BuildDeviceList {0}", ex);
                Console.ReadKey();
                return;
            }

            // get available KCube DC Servos and check our serial number is correct
            List <string> serialNumbers = DeviceManagerCLI.GetDeviceList(new List <int> {
                KCubeDCServo.DevicePrefix, TCubeDCServo.DevicePrefix
            });

            if (!serialNumbers.Contains(serialNo))
            {
                if (serialNumbers.Count > 0)
                {
                    serialNo = serialNumbers[0];
                    Console.WriteLine("using serial number {0}", serialNo);
                }
                else
                {
                    Console.WriteLine("{0} is not a valid serial number", serialNo);
                    Console.ReadKey();
                    return;
                }
            }

            // create the device
            IGenericCoreDeviceCLI device = DeviceFactory.CreateDevice(serialNo);
            IGenericAdvancedMotor motor  = device as IGenericAdvancedMotor;

            if (motor == null)
            {
                Console.WriteLine("{0} is not a DCServo", serialNo);
                Console.ReadKey();
                return;
            }

            // connect device
            try
            {
                Console.WriteLine("Opening device {0}", serialNo);
                device.Connect(serialNo);

                if (!motor.IsSettingsInitialized())
                {
                    motor.WaitForSettingsInitialized(5000);
                }

                // display info about device
                DeviceInfo di = device.GetDeviceInfo();
                Console.WriteLine("Device {0} = {1}", di.SerialNumber, di.Name);

                // start the device polling
                motor.StartPolling(250);
            }
            catch (DeviceException ex)
            {
                Console.WriteLine("Failed to open device {0} - {1}", ex.DeviceID, ex.Message);
                Console.ReadKey();
                return;
            }

            DeviceUnitConverter deviceUnitConverter;

            try
            {
                // call GetMotorConfiguration on the device to initialize the DeviceUnitConverter object required for real unit parameters
                MotorConfiguration motorSettings = motor.GetMotorConfiguration(serialNo);
                motorSettings.DeviceSettingsName = "PRM1-Z8";
                motorSettings.UpdateCurrentConfiguration();

                MotorDeviceSettings motorDeviceSettings = motor.MotorDeviceSettings;
                motor.SetSettings(motorDeviceSettings, true, false);

                // test code to test get / sert of parameters using real world units
                TestVelocityParameters(motor);
                TestJogParameters(motor);
                TestHomingParameters(motor);
                TestLimitParameters(motor);
                if (device is TCubeDCServo)
                {
                    TestPotentiometerParameters(device as TCubeDCServo);                     // TDC Only
                }

                motorSettings.UpdateCurrentConfiguration();
                deviceUnitConverter = motor.UnitConverter;
            }
            catch (DeviceException ex)
            {
                Console.WriteLine("Failed prepare settings {0} - {1}", ex.DeviceID, ex.Message);
                Console.ReadKey();
                return;
            }

            try
            {
                if (!Home_1(motor))
                {
                    Console.WriteLine("Failed to home device");
                    Console.ReadKey();
                    return;
                }
            }
            catch (DeviceException ex)
            {
                Console.WriteLine("Failed to Home device settings {0} - {1}", ex.DeviceID, ex.Message);
                Console.ReadKey();
                return;
            }

            try
            {
                // if position is set
                if (position != 0)
                {
                    // update velocity if required using real world methods
                    if (velocity != 0)
                    {
                        VelocityParameters velPars = motor.GetVelocityParams();
                        velPars.MaxVelocity = velocity;
                        motor.SetVelocityParams(velPars);
                    }

                    if (!MoveTo_1(motor, position, deviceUnitConverter))
                    {
                        Console.WriteLine("Failed to set position");
                        Console.ReadKey();
                    }
                }
                else
                {
                    char c = '\0';
                    do
                    {
                        do
                        {
                            Console.WriteLine("Press a key");
                            Console.WriteLine("0 to exit");
                            Console.WriteLine("1 to test StopImmediate()");
                            Console.WriteLine("2 to test Stop(5000)");
                            Console.WriteLine("3 to test Stop(WaitEvent)");
                            c = Console.ReadKey().KeyChar;
                        } while (c < '0' || c > '3');

                        if (c != '0')
                        {
                            motor.MoveContinuous(MotorDirection.Forward);
                            Console.WriteLine("Press any key to stop");
                            Console.ReadKey();
                            StatusBase status;
                            if (c == '1')
                            {
                                motor.Stop(5000);
                            }
                            if (c == '2')
                            {
                                motor.StopImmediate();
                            }
                            if (c == '3')
                            {
                                ManualResetEvent waitEvent = new ManualResetEvent(false);
                                waitEvent.Reset();
                                motor.Stop(p =>
                                {
                                    Console.WriteLine("Message Id {0}", p);
                                    waitEvent.Set();
                                });
                                if (!waitEvent.WaitOne(5000))
                                {
                                    Console.WriteLine("Failed to Stop");
                                }
                            }
                            do
                            {
                                status = motor.Status;
                                Console.WriteLine("Status says {0} ({1:X})", status.IsInMotion ? "Moving" : "Stopped", status.Status);
                                Thread.Sleep(50);
                            } while (status.IsInMotion);
                        }
                    } while (c != '0');
                }
            }
            catch (DeviceException ex)
            {
                Console.WriteLine("Failed to Move device settings {0} - {1}", ex.DeviceID, ex.Message);
                Console.ReadKey();
                return;
            }

            try
            {
                device.Disconnect(true);
            }
            catch (DeviceException ex)
            {
                Console.WriteLine("Failed to Disconnect {0} - {1}", ex.DeviceID, ex.Message);
            }

            Console.ReadKey();
        }