private bool IsListReady(uint count)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
const uint RTC6_LIST_BUFFER_MAX = 4000;
if ((this.listCount + count) >= RTC6_LIST_BUFFER_MAX)
{
uint busy, position;
busy = position = 0;
RTC6Wrap.n_get_status(this.Index + 1, out busy, out position);
if (0 != busy)
{
RTC6Wrap.n_set_end_of_list(this.Index + 1);
RTC6Wrap.n_execute_list(this.Index + 1, this.listIndex);
this.listIndex = this.listIndex ^ 0x03;
RTC6Wrap.n_set_start_list(this.Index + 1, this.listIndex);
}
else
{
RTC6Wrap.n_set_end_of_list(this.Index + 1);
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
RTC6Wrap.n_auto_change(this.Index + 1);
uint readStatus = 0;
switch (this.listIndex)
{
case 1:
do
{
readStatus = RTC6Wrap.n_read_status(this.Index + 1);
System.Threading.Thread.Sleep(1);
}while (Convert.ToBoolean(readStatus & 0x20));
break;
case 2:
do
{
readStatus = RTC6Wrap.n_read_status(this.Index + 1);
System.Threading.Thread.Sleep(1);
}while (Convert.ToBoolean(readStatus & 0x10));
break;
}
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
this.listIndex = this.listIndex ^ 0x03;
RTC6Wrap.n_set_start_list(this.Index + 1, this.listIndex);
}
this.listCount = count;
}
this.listCount += count;
return(true);
}
public bool CtlSelectCorrection(CorrectionTableIndex primaryHeadTableIndex, CorrectionTableIndex secondaryHeadTableIndex = CorrectionTableIndex.TableNone)
{
RTC6Wrap.n_select_cor_table(this.Index + 1,
Convert.ToUInt32(primaryHeadTableIndex),
Convert.ToUInt32(secondaryHeadTableIndex));
return(true);
}
public virtual bool Initialize(double kFactor, LaserMode laserMode, string ctbFileName)
{
Debug.Assert(this.kFactor > 0);
RTC6Wrap.n_stop_execution(this.Index + 1);
uint error = RTC6Wrap.n_load_program_file(this.Index + 1, string.Empty);
uint cardCnt = RTC6Wrap.rtc6_count_cards();
uint dllVersion = RTC6Wrap.get_dll_version();
uint hexVersion = RTC6Wrap.get_hex_version();
uint rtcVersion = RTC6Wrap.get_rtc_version();
uint lastError = RTC6Wrap.n_get_last_error(this.Index + 1);
uint serialNo = RTC6Wrap.n_get_serial_number(this.Index + 1);
this.kFactor = kFactor;
///active high
RTC6Wrap.n_set_laser_control(this.Index + 1, 0);
if (!this.CtlLoadCorrectionFile(CorrectionTableIndex.Table1, ctbFileName))
{
return(false);
}
if (!this.CtlSelectCorrection(CorrectionTableIndex.Table1))
{
return(false);
}
RTC6Wrap.n_config_list(this.Index + 1, 4000 * 2, 4000 * 2);
RTC6Wrap.n_set_laser_mode(this.Index + 1, (uint)laserMode);
RTC6Wrap.n_set_firstpulse_killer(this.Index + 1, 0);
RTC6Wrap.n_set_standby(this.Index + 1, 0, 0);
return(true);
}
public bool CtlMove(Vector2 vPosition)
{
Vector2 v = Vector2.Transform(vPosition, this.Matrix.Calculate);
int xBits = Convert.ToInt32(v.X * this.kFactor);
int yBits = Convert.ToInt32(v.Y * this.kFactor);
RTC6Wrap.n_goto_xy(this.Index + 1, xBits, yBits);
return(true);
}
public bool ListBegin()
{
Debug.Assert(this.CtlGetStatus(RtcStatus.NotBusy));
this.listIndex = 1;
this.listCount = 0;
this.aborted = false;
RTC6Wrap.n_set_start_list(this.Index + 1, this.listIndex);
return(true);
}
public bool ListEnd()
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
RTC6Wrap.n_set_end_of_list(this.Index + 1);
return(true);
}
public bool CtlGetStatus(RtcStatus status)
{
bool result = false;
uint busy, position;
busy = position = 0;
switch (status)
{
case RtcStatus.Busy:
RTC6Wrap.n_get_status(this.Index + 1, out busy, out position);
result = Convert.ToBoolean(busy > 0);
break;
case RtcStatus.NotBusy:
result = !this.CtlGetStatus(RtcStatus.Busy);
break;
case RtcStatus.List1Busy:
uint l1Status = RTC6Wrap.n_read_status(this.Index + 1);
result = Convert.ToBoolean(l1Status & 0x0F);
break;
case RtcStatus.List2Busy:
uint l2Status = RTC6Wrap.n_read_status(this.Index + 1);
result = Convert.ToBoolean(l2Status & 0x10);
break;
case RtcStatus.NoError:
bool aborted = this.CtlGetStatus(RtcStatus.Aborted);
uint lastError = RTC6Wrap.n_get_last_error(this.Index + 1);
bool error = 0 != lastError;
result = !aborted && !error;
break;
case RtcStatus.Aborted:
result = this.aborted;
break;
case RtcStatus.PositionAckOK:
uint posAckStatus = RTC6Wrap.n_get_head_status(this.Index + 1, 1);
result = Convert.ToBoolean(posAckStatus & 0x0F + posAckStatus & 0x10);
break;
case RtcStatus.PowerOK:
uint powStatus = RTC6Wrap.n_get_head_status(this.Index + 1, 1);
result = Convert.ToBoolean(powStatus & 0x80);
break;
case RtcStatus.TempOK:
uint tempStatus = RTC6Wrap.n_get_head_status(this.Index + 1, 1);
result = Convert.ToBoolean(tempStatus & 0x40);
break;
}
return(result);
}
public bool CtlBusyWait()
{
uint busy, position;
do
{
System.Threading.Thread.Sleep(1);
RTC6Wrap.n_get_status(this.Index + 1, out busy, out position);
}while (0 != busy);
return(true);
}
public bool CtlLoadCorrectionFile(CorrectionTableIndex tableIndex, string ctbFileName)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
this.ctbFileName[(uint)tableIndex] = ctbFileName;
uint error = RTC6Wrap.n_load_correction_file(this.Index + 1,
ctbFileName, Convert.ToUInt32(tableIndex), 2);
return(0 == error);
}
public bool CtlReset()
{
uint lastError = RTC6Wrap.n_get_last_error(this.Index + 1);
if (0 != lastError)
{
RTC6Wrap.n_reset_error(this.Index + 1, lastError);
}
this.aborted = false;
return(true);
}
public bool ListLaserOff()
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (!this.IsListReady(1))
{
return(false);
}
RTC6Wrap.n_laser_signal_off_list(this.Index + 1);
return(true);
}
public bool CtlSpeed(double jump, double mark)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
double jump_bitperms = jump / (double)1.0e3 * this.kFactor;
double mark_bitperms = mark / (double)1.0e3 * this.kFactor;
RTC6Wrap.n_set_jump_speed_ctrl(this.Index + 1, jump_bitperms);
RTC6Wrap.n_set_mark_speed_ctrl(this.Index + 1, mark_bitperms);
return(true);
}
public bool ListLaserOn(double msec)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (!this.IsListReady(1))
{
return(false);
}
RTC6Wrap.n_laser_on_list(this.Index + 1, (uint)(msec / 100.0));
return(true);
}
public bool ListWait(double msec)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (msec * 1.0e3 >= 10)
{
if (!this.IsListReady(1))
{
return(false);
}
RTC6Wrap.n_long_delay(this.Index + 1, (uint)(msec * 100.0));
}
return(true);
}
public bool ListSpeed(double jump, double mark)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
double jump_bitperms = jump / (double)1.0e3 * this.kFactor;
double mark_bitperms = mark / (double)1.0e3 * this.kFactor;
if (!this.IsListReady(2))
{
return(false);
}
RTC6Wrap.n_set_jump_speed(this.Index + 1, jump_bitperms);
RTC6Wrap.n_set_mark_speed(this.Index + 1, mark_bitperms);
return(true);
}
public override bool Initialize(double kFactor, LaserMode laserMode, string ctbFileName)
{
Debug.Assert(base.kFactor > 0);
uint result = RTC6Wrap.init_rtc6_dll();
RTC6Wrap.eth_set_search_cards_timeout(200 * 1000);
result = RTC6Wrap.eth_search_cards(
RTC6Wrap.eth_convert_string_to_ip(this.ipAddress.ToString()),
RTC6Wrap.eth_convert_string_to_ip(this.subNetMask.ToString()));
int assign_result = RTC6Wrap.eth_assign_card_ip(
RTC6Wrap.eth_convert_string_to_ip(this.ipAddress.ToString()),
base.Index + 1);
if (base.Index + 1 != assign_result)
{
return(false);
}
RTC6Wrap.n_stop_execution(base.Index + 1);
uint error = RTC6Wrap.n_load_program_file(base.Index + 1, string.Empty);
uint cardCnt = RTC6Wrap.rtc6_count_cards();
uint dllVersion = RTC6Wrap.get_dll_version();
uint hexVersion = RTC6Wrap.get_hex_version();
uint rtcVersion = RTC6Wrap.get_rtc_version();
uint lastError = RTC6Wrap.n_get_last_error(base.Index + 1);
base.kFactor = kFactor;
///active high
RTC6Wrap.n_set_laser_control(this.Index + 1, 0);
if (!this.CtlLoadCorrectionFile(CorrectionTableIndex.Table1, ctbFileName))
{
return(false);
}
if (!this.CtlSelectCorrection(CorrectionTableIndex.Table1))
{
return(false);
}
RTC6Wrap.n_config_list(this.Index + 1, 4000 * 2, 4000 * 2);
RTC6Wrap.n_set_laser_mode(this.Index + 1, (uint)laserMode);
RTC6Wrap.n_set_firstpulse_killer(this.Index + 1, 0);
RTC6Wrap.n_set_standby(this.Index + 1, 0, 0);
return(true);
}
public bool ListJump(Vector2 vPosition)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
Vector2 v = Vector2.Transform(vPosition, this.Matrix.Calculate);
int xBits = (int)(v.X * this.kFactor);
int yBits = (int)(v.Y * this.kFactor);
if (!this.IsListReady(1))
{
return(false);
}
RTC6Wrap.n_jump_abs(this.Index + 1, xBits, yBits);
return(true);
}
public bool ListFrequency(double frequency, double pulseWidth)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
double period = 1.0f / frequency * (double)1.0e6;
double halfPeriod = period / 2.0f;
if (!this.IsListReady(1))
{
return(false);
}
RTC6Wrap.n_set_laser_timing(this.Index + 1,
(uint)(halfPeriod * 64.0),
(uint)(pulseWidth * 64.0),
0, 0);
return(true);
}
public bool CtlFrequency(double frequency, double pulseWidth)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
double period = 1.0f / frequency * (double)1.0e6;
double halfPeriod = period / 2.0f;
RTC6Wrap.n_set_start_list(this.Index + 1, 1);
RTC6Wrap.n_set_laser_timing(this.Index + 1,
(uint)(halfPeriod * 64.0),
(uint)(pulseWidth * 64.0),
0,
0);
RTC6Wrap.n_set_end_of_list(this.Index + 1);
RTC6Wrap.n_execute_list(this.Index + 1, 1);
this.CtlBusyWait();
return(true);
}
public bool CtlDelay(double laserOn, double laserOff, double scannerJump, double scannerMark, double scannerPolygon)
{
if (this.CtlGetStatus(RtcStatus.Busy))
{
return(false);
}
RTC6Wrap.n_set_start_list(this.Index + 1, 1);
RTC6Wrap.n_set_scanner_delays(this.Index + 1,
(uint)(scannerJump / 10.0),
(uint)(scannerMark / 10.0),
(uint)(scannerPolygon / 10.0)
);
RTC6Wrap.n_set_laser_delays(this.Index + 1,
(int)(laserOn * 64.0),
(uint)(laserOff * 64.0)
);
RTC6Wrap.n_set_end_of_list(this.Index + 1);
RTC6Wrap.n_execute_list(this.Index + 1, 1);
this.CtlBusyWait();
return(true);
}
public bool ListDelay(double laserOn, double laserOff, double scannerJump, double scannerMark, double scannerPolygon)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
if (!this.IsListReady(2))
{
return(false);
}
RTC6Wrap.n_set_scanner_delays(this.Index + 1,
(uint)(scannerJump / 10.0),
(uint)(scannerMark / 10.0),
(uint)(scannerPolygon / 10.0)
);
RTC6Wrap.n_set_laser_delays(this.Index + 1,
(int)(laserOn * 64.0),
(uint)(laserOff * 64.0)
);
return(true);
}
public bool ListArc(Vector2 center, double sweepAngle)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
Vector2 v = Vector2.Transform(center, this.Matrix.Calculate);
int quot = (int)(Math.Abs(sweepAngle) / 360.0);
double rem = sweepAngle - Math.Sign(sweepAngle) * 360.0f * quot;
if (!this.IsListReady((uint)(quot + 1)))
{
return(false);
}
for (int i = 0; i < quot; i++)
{
RTC6Wrap.n_arc_abs(this.Index + 1, (int)(center.X * this.kFactor), (int)(center.Y * this.kFactor), Math.Sign(sweepAngle) * -360.0);
}
RTC6Wrap.n_arc_abs(this.Index + 1, (int)(center.X * this.kFactor), (int)(center.Y * this.kFactor), -rem);
return(true);
}
public bool ListExecute(bool busyWait = true)
{
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
uint busy, position;
busy = position = 0;
RTC6Wrap.n_get_status(this.Index + 1, out busy, out position);
if (busy > 0)
{
RTC6Wrap.n_auto_change(this.Index + 1);
}
if (busyWait)
{
this.CtlBusyWait();
}
if (this.CtlGetStatus(RtcStatus.Aborted))
{
return(false);
}
return(true);
}
public bool CtlLaserOff()
{
RTC6Wrap.n_laser_signal_off(this.Index + 1);
return(true);
}
public string CtlGetErrMsg(uint errorCode)
{
if (0 == errorCode)
{
return("");
}
uint cumulativeErrCode = RTC6Wrap.n_get_error(this.Index + 1);
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 0)))
{
return("no rtc board founded via init_rtc_dll");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 1)))
{
return("access denied via init_rtc_dll, select, acquire_rtc");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 2)))
{
return("command not forwarded. PCI or driver error");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 3)))
{
return("rtc timed out. no response from board");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 4)))
{
return("invalid parameter");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 5)))
{
return("List processing is (not) active");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 6)))
{
return("list command rejected, illegal input pointer");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 7)))
{
return("list command wad converted to a List_mop");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 8)))
{
return("dll, rtc or hex version error");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 9)))
{
return("download verification error. load_program_file ?");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 10)))
{
return("DSP version is too old");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 11)))
{
return("out of memeory. dll internal windows memory request failed");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 12)))
{
return("EEPROM read or write error");
}
if (Convert.ToBoolean(cumulativeErrCode & (0x01 << 16)))
{
return("error reading PCI configuration reqister druing init_rtc_dll");
}
return($"unknown error code : {errorCode}");
}
public bool CtlAbort()
{
RTC6Wrap.n_stop_execution(this.Index + 1);
this.aborted = true;
return(this.CtlGetStatus(RtcStatus.NotBusy));
}
