/// <summary> Wait for moving complete. </summary>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool WaitForMovingComplete()
{
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE); // NOTE - some devices use 0x0480 as status request
byte[] byteArray = Utilities.SerializeMessage(statusMessage);
// loop until move complete
bool moved = false;
while (!moved)
{
// send status request command
_device.SendCommand(byteArray);
// get any response (maybe a status response or a move complete response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check for moving bit
if (returnObject is MotorStatus)
{
moved = ((((MotorStatus)returnObject)._status & 0x00f0) == 0);
}
// if a simple message structure then check for move complete message
if (returnObject is MessageStruct)
{
moved = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_COMPLETE;
}
}
}
return(true);
}
/// <summary> Wait for homing to complete. </summary>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool WaitForHomimgComplete()
{
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE);
byte[] byteArray = Utilities.SerializeMessage(statusMessage);
// loop until homed complete
bool homed = false;
while (!homed)
{
// send status request command
_device.SendCommand(byteArray);
// get any response (maybe a status response or a homed response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check the homing bit
if (returnObject is MotorStatus)
{
homed = ((((MotorStatus)returnObject)._status & 0x0400) != 0);
}
// if a simple message structure then check for homed message
if (returnObject is MessageStruct)
{
homed = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_HOMED;
}
}
}
return(true);
}
/// <summary> Constructor. </summary>
/// <param name="distance"> The distance. </param>
public MotorMoveRelative(Int32 distance)
{
_channel = 1;
_header = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_MOVE_RELATIVE);
_header._packetLength = 6;
_header._destination |= 0x80;
_distance = distance;
}
/// <summary> Starts a move operation. </summary>
/// <param name="step"> Amount to increment by. </param>
/// <param name="complete"> [out] The complete. </param>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool StartMoving(int step, out bool complete)
{
complete = false;
// gets the MotorMoveRelative command structure as a byte[] array
MotorMoveRelative motorMessage = new MotorMoveRelative(step);
byte[] byteArray = Utilities.SerializeMessage(motorMessage);
// flush any existing messages and send move message
_device.FlushMessages();
if (!_device.SendCommand(byteArray))
{
return(false);
}
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE); // NOTE - some devices use 0x0480 as status request
byteArray = Utilities.SerializeMessage(statusMessage);
// loop until device is moving
bool started = false;
while (!started && !complete)
{
// request status
_device.SendCommand(byteArray);
// get any response (maybe a status response or a move complete response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check for moving bit
if (returnObject is MotorStatus)
{
started = ((((MotorStatus)returnObject)._status & 0x00f0) != 0);
}
// if a simple message structure then check for move complete message
if (returnObject is MessageStruct)
{
complete = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_COMPLETE;
}
}
}
return(true);
}
/// <summary> Starts a homing operation. </summary>
/// <param name="complete"> [out] The complete. </param>
/// <returns> true if it succeeds, false if it fails. </returns>
private bool StartHoming(out bool complete)
{
complete = false;
// gets the MotorHome command structure as a byte[] array
MessageStruct message = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_MOVE_HOME);
byte[] byteArray = Utilities.SerializeMessage(message);
// flush any existing messages and send move message
_device.FlushMessages();
if (!_device.SendCommand(byteArray))
{
return(false);
}
// get a Thorlabs simple message to request a status as a byte[] array
MessageStruct statusMessage = ThorlabsDevice.SimpleMessageStruct(DeviceMessages.MGMSG_MOT_REQ_DCSTATUSUPDATE);
byteArray = Utilities.SerializeMessage(statusMessage);
// loop until device is homing
bool started = false;
while (!started && !complete)
{
// request status
_device.SendCommand(byteArray);
// get any response (maybe a status response or a homed response)
byte[] response = _device.WaitForUnknownReply(250);
// get response as a message structure
object returnObject = ObjectFromData(response);
if (returnObject != null)
{
// if a motor status then check the homing bit
if (returnObject is MotorStatus)
{
started = ((((MotorStatus)returnObject)._status & 0x0200) != 0);
}
// if a simple message structure then check for homed message
if (returnObject is MessageStruct)
{
complete = ((MessageStruct)returnObject)._messageId == DeviceMessages.MGMSG_MOT_MOVE_HOMED;
}
}
}
return(true);
}
/// <summary> Gets the correct message structure for the supplied message byte[] array. </summary>
/// <param name="data"> The source byte[] array. </param>
/// <returns> The correct message structure of NULL if not known. </returns>
public object ObjectFromData(byte[] data)
{
if ((data == null) || (data.Length < 6))
{
return(null);
}
// select depending upon the Message Id
switch (ThorlabsDevice.MessageType(data))
{
case 0:
return(null);
case DeviceMessages.MGMSG_MOT_GET_DCSTATUSUPDATE: // DC Servo Motor Status response message
case DeviceMessages.MGMSG_MOT_GET_STATUSUPDATE: // Stepper Motor Status response message
return(Utilities.DeserializeMsg <MotorStatus>(data));
case DeviceMessages.MGMSG_MOT_MOVE_HOMED: // Motor Homed Message
case DeviceMessages.MGMSG_MOT_MOVE_COMPLETE: // Motor Moved Message
return(Utilities.DeserializeMsg <MessageStruct>(data));
}
return(null);
}
/// <summary> Constructor. </summary>
/// <param name="device"> The device. </param>
public ThorlabsMotorHome(ThorlabsDevice device)
: base(device)
{
}
/// <summary> Constructor. </summary>
/// <param name="device"> The device. </param>
protected ThorlabsMotor(ThorlabsDevice device)
{
_device = device;
}
/// <summary> Constructor. </summary>
/// <param name="device"> The device. </param>
public ThorlabsMotorMove(ThorlabsDevice device)
: base(device)
{
}
