private async Task CheckPtLimitAsync()
{
if (this._panTiltControl == null)
{
return;
}
await Task.Delay(1000).ConfigureAwait(false);
this._ptLimit = this._panTiltControl.GetLimits();
this.PrepareDrawing();
}
private void CheckPtLimit()
{
if (this._panTiltControl == null)
{
return;
}
this._ptLimit = this._panTiltControl.GetLimits();
this.PrepareDrawing();
this.PreparePositions();
}
public void DrawPtHeadLimits(PanTiltLimit panTiltLimit)
{
var leftUp = new PanTiltPosition(panTiltLimit.PanMin, panTiltLimit.TiltMin);
var leftDown = new PanTiltPosition(panTiltLimit.PanMin, panTiltLimit.TiltMax);
var rightUp = new PanTiltPosition(panTiltLimit.PanMax, panTiltLimit.TiltMin);
var rightDown = new PanTiltPosition(panTiltLimit.PanMax, panTiltLimit.TiltMax);
var positions = new PanTiltPosition[] { leftUp, rightUp, rightDown, leftDown };
var textPos = positions.OrderBy(o => this.Distance(o, new PanTiltPosition(-180, 90))).FirstOrDefault();
this.DrawText(textPos, "PT Unit Limits", Brushes.Crimson, false);
this.DrawPolygon(positions, Color.Crimson);
}
public EneoPanTiltControl(ICommunication communication, bool debug = false)
{
this._communication = communication;
this._communication.ReceiveData += PackageReceived;
this._debug = debug;
this._positionConverter = new PositionConverter();
this._position = null;
this._limits = new PanTiltLimit();
this._handler = new FeedbackHandler();
this._resetEvent = new ManualResetEvent(false);
this._stopHeartbeat = true;
this.InitializeSpeedTranslationTable();
}
private async Task SetLimits(PanTiltLimit limits)
{
//Notice:
//Pt head cannot move with absolute commands to a position outside the limits we must change the limits before with a relative command
var eneoPanTiltControl = this._panTiltControl as EneoPanTiltControl;
if (eneoPanTiltControl == null)
{
return;
}
await Task.Run(() =>
{
//Disable limits
eneoPanTiltControl.DisableLimit();
//Move to zero position
this._panTiltControl.PanTiltAbsolute(0, 0);
this._positionChecker.ComparePosition(new PanTiltPosition(0, 0));
//PanMin
this._panTiltControl.PanRelative(-30);
this._positionChecker.ComparePosition(new PanTiltPosition(limits.PanMin - 10, 0), tolerance: 5, timeout: 50, retry: 200);
eneoPanTiltControl.SetLimitLeft();
this._panTiltControl.PanAbsolute(limits.PanMin);
this._positionChecker.ComparePosition(new PanTiltPosition(limits.PanMin, 0));
eneoPanTiltControl.SetLimitLeft();
//PanMax
this._panTiltControl.PanRelative(30);
this._positionChecker.ComparePosition(new PanTiltPosition(limits.PanMax + 10, 0), tolerance: 5, timeout: 50, retry: 200);
eneoPanTiltControl.SetLimitRigth();
this._panTiltControl.PanAbsolute(limits.PanMax);
this._positionChecker.ComparePosition(new PanTiltPosition(limits.PanMax, 0));
eneoPanTiltControl.SetLimitRigth();
//Move to zero position
this._panTiltControl.PanTiltAbsolute(0, 0);
this._positionChecker.ComparePosition(new PanTiltPosition(0, 0));
//TiltMin
this._panTiltControl.TiltRelative(-20);
this._positionChecker.ComparePosition(new PanTiltPosition(0, limits.TiltMin - 10), tolerance: 5, timeout: 50, retry: 200);
eneoPanTiltControl.SetLimitDown();
this._panTiltControl.TiltAbsolute(limits.TiltMin);
this._positionChecker.ComparePosition(new PanTiltPosition(0, limits.TiltMin));
eneoPanTiltControl.SetLimitDown();
//TiltMax
this._panTiltControl.TiltRelative(20);
this._positionChecker.ComparePosition(new PanTiltPosition(0, limits.TiltMax + 10), tolerance: 5, timeout: 50, retry: 200);
eneoPanTiltControl.SetLimitUp();
this._panTiltControl.TiltAbsolute(limits.TiltMax);
this._positionChecker.ComparePosition(new PanTiltPosition(0, limits.TiltMax));
eneoPanTiltControl.SetLimitUp();
//Enable limits
eneoPanTiltControl.EnableLimit();
//Move to zero position
this._panTiltControl.PanTiltAbsolute(0, 0);
this._positionChecker.ComparePosition(new PanTiltPosition(0, 0));
});
}
private void SetLimits(PanTiltLimit limits)
{
this._panTiltControl.SetLimits(limits);
}
public bool SetLimits(PanTiltLimit panTiltLimit)
{
//TODO: Move logic from TestUI project
return(false);
}
public bool SetLimits(PanTiltLimit panTiltLimit)
{
return(false);
}
