private void timer1_Tick(object sender, EventArgs e)
{
int [] List;
int nBoards = 0;
// check how many boards connected
List = KM.GetBoards(out nBoards);
if (nBoards > 0)
{
this.Text = String.Format("Dynomotion Fiducial Alignment - Connected");
}
else
{
this.Text = "Dynomotion Fiducial Alignment - Disconnected";
}
if (KM.WaitToken(100) == KMOTION_TOKEN.KMOTION_LOCKED)
{
try
{
MainStatus = KM.GetStatus(false); // we already have a lock
KM.ReleaseToken();
XPos.Text = String.Format("{0:F4}", ConvertToUser(MainStatus.Destination[0] / XResolution));
YPos.Text = String.Format("{0:F4}", ConvertToUser(MainStatus.Destination[1] / YResolution));
}
catch (DMException ex) // in case disconnect in the middle of reading status
{
KM.ReleaseToken();
MessageBox.Show(ex.InnerException.Message);
}
}
}
private void UpdateStatus()
{
int[] List;
int nBoards = 0;
// check how many boards connected
List = KM.GetBoards(out nBoards);
if (nBoards > 0)
{
this.Text = String.Format("Teach Motion - Connected - USB location {0:X}", List[0]);
}
else
{
this.Text = "Teach Motion - Disconnected";
}
if (KM.WaitToken(100) == KMOTION_TOKEN.KMOTION_LOCKED)
{
try
{
MainStatus = KM.GetStatus(false); // we already have a lock
KM.ReleaseToken();
XPos.Text = String.Format("{0:F4}", MainStatus.Destination[0] / XResolution);
YPos.Text = String.Format("{0:F4}", MainStatus.Destination[1] / YResolution);
XEnabled.Checked = (MainStatus.Enables & (1 << 0)) != 0;
YEnabled.Checked = (MainStatus.Enables & (1 << 1)) != 0;
if (CaptureOn.Checked)
{
CapList.Add(new CPoint(MainStatus.Destination[1] / YResolution,
MainStatus.Destination[0] / XResolution,
MainStatus.TimeStamp));
}
}
catch (DMException ex) // in case disconnect in the middle of reading status
{
KM.ReleaseToken();
MessageBox.Show(ex.InnerException.Message);
}
}
}
// Update Status Timer
// currently set for 100 ms
// event handler for the Dispatch timer
private void dispatchTimer_Tick(object sender, EventArgs e)
{
int[] BoardList;
int nBoards = 0;
// several sections
// if the board is connected then
// then check certain things every cycle
// check some things every second
if (Connected)
{
if (++skip == 10) // These actions happen every second
{
skip = 0;
// update the elapsed time
tbExTime.Text = KM.CoordMotion.TimeExecuted.ToString();
}
else // these actions happen every cycle
{
if (KM.WaitToken(100) == KMOTION_TOKEN.KMOTION_LOCKED) // KMOTION_LOCKED means the board is available
{
try
{
KM_MainStatus MainStatus = KM.GetStatus(false); // passing false does not lock to board while generating status
KM.ReleaseToken();
// Set DRO Colors
if ((MainStatus.Enables & 1) != 0)
{
DROX.Foreground = Brushes.Green;
}
else
{
DROX.Foreground = Brushes.Red;
}
if ((MainStatus.Enables & 2) != 0)
{
DROY.Foreground = Brushes.Green;
}
else
{
DROY.Foreground = Brushes.Red;
}
if ((MainStatus.Enables & 4) != 0)
{
DROZ.Foreground = Brushes.Green;
}
else
{
DROZ.Foreground = Brushes.Red;
}
// Get Ablosule Machine Coordinates
double x = 0, y = 0, z = 0, a = 0, b = 0, c = 0;
KM.CoordMotion.UpdateCurrentPositionsABS(ref x, ref y, ref z, ref a, ref b, ref c, false);
DROX.Text = String.Format("{0:F4}", x);
DROY.Text = String.Format("{0:F4}", y);
DROZ.Text = String.Format("{0:F4}", z);
}
catch (DMException) // in case disconnect in the middle of reading status
{
KM.ReleaseToken(); // make sure the token is released
}
}
else
{
Connected = false;
}
// Manage the Cycle Start button
btnCycleStart.IsEnabled = !ExecutionInProgress;
}
}
else
{
if (++skip == 10) // These actions happen every second - when not connected
{
skip = 0;
DisCount++;
// check how many boards are connected
BoardList = KM.GetBoards(out nBoards);
if (nBoards > 0)
{
Connected = true;
Title = String.Format("C# WPF App - Connected = USB location {0:X} count = {1}", BoardList[0], DisCount);
}
else
{
Connected = false;
Title = String.Format("C# WPF App - KFLOP Disconnected count = {0}", DisCount);
}
}
}
}
// update status
private void dispatcherTimer_Tick(object sender, EventArgs e)
{
int[] List;
int nBoards = 0;
// with extra FTDI Drivers this can take a long time
// so only call occasionally when not connected
if (!Connected && ++skip == 10)
{
skip = 0;
// check how many boards connected
List = KM.GetBoards(out nBoards);
if (nBoards > 0)
{
Connected = true;
Title = String.Format("Dynomotion C# Forms App - Connected - USB location {0:X}", List[0]);
}
else
{
Connected = false;
Title = "Dynomotion C# Forms App - Disconnected";
}
}
if (Connected && KM.WaitToken(100) == KMOTION_TOKEN.KMOTION_LOCKED)
{
try
{
KM_MainStatus MainStatus = KM.GetStatus(false); // we already have a lock
KM.ReleaseToken();
if ((MainStatus.Enables & 1) != 0) // Set DRO colors based on enables
{
DROX.Foreground = Brushes.Green;
}
else
{
DROX.Foreground = Brushes.Orange;
}
if ((MainStatus.Enables & 2) != 0)
{
DROY.Foreground = Brushes.Green;
}
else
{
DROY.Foreground = Brushes.Orange;
}
if ((MainStatus.Enables & 4) != 0)
{
DROZ.Foreground = Brushes.Green;
}
else
{
DROZ.Foreground = Brushes.Orange;
}
// Get Absolute Machine Coordinates and display in DROs
double x = 0, y = 0, z = 0, a = 0, b = 0, c = 0;
KM.CoordMotion.UpdateCurrentPositionsABS(ref x, ref y, ref z, ref a, ref b, ref c, false);
DROX.Text = String.Format("{0:F4}", x);
DROY.Text = String.Format("{0:F4}", y);
DROZ.Text = String.Format("{0:F4}", z);
// Set Feedhold color bases on state
if (KM.WriteLineReadLine("GetStopState") == "0")
{
Feedhold.Background = Brushes.Yellow;
}
else
{
Feedhold.Background = Brushes.Orange;
}
}
catch (DMException) // in case disconnect in the middle of reading status
{
KM.ReleaseToken(); // make sure token is released
}
}
else
{
Connected = false;
}
// update Run button color/enable
Run.IsEnabled = !ExecutionInProgress;
}
