static void Main()
{
#if _TEST
InterfaceFake.Eth32 dev = new InterfaceFake.Eth32();
#else
Eth32 dev = new Eth32();
#endif
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new MainForm(dev));
}
public MainForm(Eth32 dev)
{
//set up UI control attributes (auto-generated)
InitializeComponent();
this.dev = dev;
//setup for jog button handler thread, triggering event
jogEvent = new ManualResetEvent(false);
this.buttonThread = new Thread(buttonThreadHandler);
this.buttonThread.Start();
//try to read config file - open config dialog if not found
string configFile = Application.StartupPath + "\\dishConfig.xml";
if (File.Exists(configFile))
{
settings = configFileHandler.readConfig(configFile);
appConfigured = true;
}//if config exists
else
{
settings = new configModel();
Config cfgDialog = new Config(dev, this.settings);
if (cfgDialog.ShowDialog() == DialogResult.OK)
{
configFileHandler.writeConfig(configFile, cfgDialog.settings);
MessageBox.Show("Saved");
appConfigured = true;
}
}//no config found
state = DishState.Unknown;
//set up presets, set up various Motion control objects, logger but only if config exists and is valid.
if (appConfigured)
{
//get presets array
Presets = settings.getPresetList();
foreach (presets p in Presets)
{
if (!String.IsNullOrEmpty(p.Text))
{
presetSelector.Items.Add(p.Text);
}
}
presetSelector.SelectedIndex = 0;
RollingLogger.setupRollingLogger(settings.positionFileLog, settings.maxPosLogSizeBytes, settings.maxPosLogFiles);
}//if config exists
}
public MotionControl()
{
state = DishState.Unknown;
azCommand = -1000.0;
elCommand = 0.0;
RAcommand = 0.0;
decCommand = 0.0;
azPos = 0.0;
elPos = 0.0;
bUpdating = false;
btEnabled = true;
TimerTickms = 10;
Tracking = false;
dev = new Eth32();
this.initializeConfig();
}
public testDrive(Eth32 dev, configModel settings, MainForm main)
{
this.dev = dev;
this.settings = settings;
this.form = main;
this.azPos = this.form.azReadPosition();
this.elPos = this.form.elReadPosition();
this.form.setAz(0.0);
this.form.setEl(0.0);
InitializeComponent();
this.azimuth.Text = String.Format("{0:0.00}", this.azPos);
this.elevation.Text = String.Format("{0:0.00}", this.elPos);
timer = new System.Windows.Forms.Timer();
timer.Interval = 100;
timer.Enabled = true;
timer.Tick += new EventHandler(timer1_Tick);
}
public Encoder(Eth32 dev, configModel config, bool isAz = true)
{
this.coding = config.coding;
this.outputPort = config.outputPort;
this.device = dev;
if (isAz)
{
this.RevsPerRot = config.AzimuthRevsPerRot;
this.EncoderBits = config.AzimuthEncoderBits;
this.StartBit = config.AzimuthStartBit;
this.OffsetDeg = config.AzimuthOffsetDeg;
}
else
{
this.RevsPerRot = config.ElevationRevsPerRot;
this.EncoderBits = config.ElevationEncoderBits;
this.StartBit = config.ElevationStartBit;
this.OffsetDeg = config.ElevationOffsetDeg;
}
string resultString = Regex.Match(this.outputPort, @"\d+").Value;
Int32.TryParse(resultString, out outputPortNum);
}
public void Connect(bool bSameAddress = true)
{
if (settings.eth32Address.Length == 0)
{
BasicLog.writeLog("Please configure the eht32 in Options->Settings");
return;
}
// If we're already connected, disconnect and reconnect
if (dev.Connected && !bSameAddress)
{
enableDrive(false);
Thread.Sleep(1000);
dev.Disconnect();
Thread.Sleep(1000);
dev = null;
}
try
{
// Connect, use a 1 second timeout
if (dev == null)
{
dev = new Eth32();
}
if (!dev.Connected)
{
dev.Connect(settings.eth32Address, Eth32.DefaultPort, 1000);
}
if (dev.Connected)
{
state = DishState.Stopped;
dev.ResetDevice();
MotionSetup();
azEncoder.SetupEncoderPorts();
elEncoder.SetupEncoderPorts();
//setup output port
this.dev.SetDirection(this.outputPortNum, 0xff);
//watchdog output
this.dev.SetDirection(4, 1);
Thread.Sleep(100);
//set up initial state of output control bits
this.setControlBits(true, true, false);
this.setControlBits(false, true, false);
//setup PWM
this.dev.PwmClockState = Eth32PwmClock.Enabled;
this.dev.PwmBasePeriod = 199; //10 khz
this.setAz(0.0);
this.setEl(0.0);
this.enableDrive(true);
}
}
catch (Eth32Exception etherr)
{
#if !_TEST
BasicLog.writeLog("Error connecting to the ETH32: " + Eth32.ErrorString(etherr.ErrorCode));
#endif
}
if (!updateThread.IsAlive)
{
this.updateThread = new Thread(updateThreadCallback);
this.updateThread.Priority = ThreadPriority.Highest;
}
updateThread.Start();
}
public Config(Eth32 dev, configModel settings)
{
InitializeComponent();
this.dev = dev;
this.settings = settings;
if (settings.AzimuthEncoderBits != 0)
{
this.latitude.Text = GeoAngle.FromDouble(settings.latitude).ToString("NS");
this.longitude.Text = GeoAngle.FromDouble(settings.longitude).ToString("WE");
this.altitude.Text = settings.altitude.ToString();
this.alpha.Text = settings.alpha.ToString();
this.AzRevsPerRot.Text = settings.AzimuthRevsPerRot.ToString();
this.encBitsAz.Text = settings.AzimuthEncoderBits.ToString();
this.AzStartBit.Text = settings.AzimuthStartBit.ToString();
this.AzOffset.Text = settings.AzimuthOffsetDeg.ToString();
this.ElRevsPerRot.Text = settings.ElevationRevsPerRot.ToString();
this.encBitsEl.Text = settings.ElevationEncoderBits.ToString();
this.ElStartBit.Text = settings.ElevationStartBit.ToString();
this.ElOffset.Text = settings.ElevationOffsetDeg.ToString();
this.encoder_coding.SelectedItem = settings.coding.ToString();
this.cmbETH32.Items.Add(settings.eth32Address);
this.cmbETH32.SelectedItem = settings.eth32Address;
this.outputPort.SelectedItem = settings.outputPort;
this.jogIncrement.Text = settings.jogIncrement.ToString();
this.driveEnableBit.Text = settings.driveEnablebit.ToString();
this.azCBactiveHi.Checked = settings.azActiveHi;
this.azCW_CCW.Checked = settings.azDriveType == driveType.CCW;
this.azEnbDir.Checked = settings.azDriveType == driveType.DirEnable;
this.azBoth.Checked = settings.azDriveType == driveType.Both;
if (settings.azDriveType == driveType.CCW)
{
azCB1.Text = "CW";
azCB2.Text = "CCW";
azCB3.Text = "";
azEnBit.Enabled = false;
}
else if (settings.azDriveType == driveType.DirEnable)
{
azCB1.Text = "Dir";
azCB2.Text = "Enable";
azCB3.Text = "";
azEnBit.Enabled = false;
}
else
{
azCB1.Text = "CW";
azCB2.Text = "CCW";
azCB3.Text = "Enable";
azEnBit.Enabled = true;
}
this.azCWbit.Text = settings.azCWbit.ToString();
this.azCCWbit.Text = settings.azCCWbit.ToString();
this.azEnBit.Text = settings.azEnable.ToString();
this.azPWMch.Text = settings.azPWMchan.ToString();
this.azKd.Text = settings.azKd.ToString();
this.azKi.Text = settings.azKi.ToString();
this.azKp.Text = settings.azKp.ToString();
this.Gain.Text = settings.azG.ToString();
this.azMax.Text = settings.azMax.ToString();
this.azMin.Text = settings.azMin.ToString();
this.azOutMax.Text = settings.azOutMax.ToString();
this.azOutMin.Text = settings.azOutMin.ToString();
this.azPark.Text = settings.azPark.ToString();
this.SouthParkPosAz.Text = settings.azSouthPark.ToString();
this.elCBactiveHi.Checked = settings.elActiveHi;
this.elCW_CCW.Checked = settings.elDriveType == driveType.CCW;
this.elEnbDir.Checked = settings.elDriveType == driveType.DirEnable;
this.elBoth.Checked = settings.elDriveType == driveType.Both;
if (settings.azDriveType == driveType.CCW)
{
elCB1.Text = "CW";
elCB2.Text = "CCW";
elCB3.Text = "";
elEnBit.Enabled = false;
}
else if (settings.azDriveType == driveType.DirEnable)
{
elCB1.Text = "Dir";
elCB2.Text = "Enable";
elCB3.Text = "";
elEnBit.Enabled = false;
}
else
{
elCB1.Text = "CW";
elCB2.Text = "CCW";
elCB3.Text = "Enable";
elEnBit.Enabled = true;
}
this.elCWbit.Text = settings.elCWbit.ToString();
this.elCCWbit.Text = settings.elCCWbit.ToString();
this.elEnBit.Text = settings.elEnable.ToString();
this.elPWMch.Text = settings.elPWMchan.ToString();
this.elKd.Text = settings.elKd.ToString();
this.elKi.Text = settings.elKi.ToString();
this.elKp.Text = settings.elKp.ToString();
this.elMax.Text = settings.elMax.ToString();
this.elMin.Text = settings.elMin.ToString();
this.elOutMax.Text = settings.elOutMax.ToString();
this.elOutMin.Text = settings.elOutMin.ToString();
this.elPark.Text = settings.elPark.ToString();
this.SouthParkPosEl.Text = settings.elSouthPark.ToString();
this.PosLogFile.Text = settings.positionFileLog;
this.maxPosLogSize.Text = settings.maxPosLogSizeBytes.ToString();
this.MaxFiles.Text = settings.maxPosLogFiles.ToString();
this.PS1Name.Text = settings.Preset1Name;
this.PS1Az.Text = settings.Preset1Az.ToString();
this.PS1El.Text = settings.Preset1El.ToString();
this.PS2Name.Text = settings.Preset2Name;
this.PS2Az.Text = settings.Preset2Az.ToString();
this.PS2El.Text = settings.Preset2El.ToString();
this.PS3Name.Text = settings.Preset3Name;
this.PS3Az.Text = settings.Preset3Az.ToString();
this.PS3El.Text = settings.Preset3El.ToString();
this.PS4Name.Text = settings.Preset4Name;
this.PS4Az.Text = settings.Preset4Az.ToString();
this.PS4El.Text = settings.Preset4El.ToString();
this.PS5Name.Text = settings.Preset5Name;
this.PS5Az.Text = settings.Preset5Az.ToString();
this.PS5El.Text = settings.Preset5El.ToString();
}
}
