public void SetCouchAutomatic(double couchVert, double couchLong, double couchLat, double couchRot)
{
var couchVertChange = !double.IsNaN(couchVert) && _session.MachineState.CouchVert != couchVert;
var couchLongChange = !double.IsNaN(couchLong) && _session.MachineState.CouchLng != couchLong;
var couchLatChange = !double.IsNaN(couchLat) && _session.MachineState.CouchLat != couchLat;
var couchRotChange = !double.IsNaN(couchRot) && _session.MachineState.CouchRot != couchRot;
if (!couchVertChange && !couchLongChange && !couchLatChange && !couchRotChange)
{
//No changes
return;
}
if (MotionWatch.IsSystemInMotion)
{
MotionWatch.MotionCompleteEvent.WaitOne();
}
_session.ResetConsoleState();
_session.Keyboard.Press("M");
_session.ServiceConsoleState.Main.Current = MainOptions.MOTOR;
_session.Keyboard.Press("C");
_session.ServiceConsoleState.Motor.Current = MotorOptions.COUCH_AUTOMATIC;
_session.ServiceConsoleState.CouchAutomatic.Current = CouchAutoOptions.VERT;
if (couchVertChange)
{
_session.ServiceConsoleState.CouchAutomatic.MoveTo(CouchAutoOptions.VERT);
_session.Keyboard.EnterNumber(couchVert);
this.MotionWatch.AddMotion(_session.MachineState.CouchVert, couchVert, _session.MachineConstraints.CouchVertMoveCMPerSec);
}
if (couchLongChange)
{
_session.ServiceConsoleState.CouchAutomatic.MoveTo(CouchAutoOptions.LONG);
_session.Keyboard.EnterNumber(couchLong);
this.MotionWatch.AddMotion(_session.MachineState.CouchLng, couchLong, _session.MachineConstraints.CouchMoveCMPerSec);
}
if (couchLatChange)
{
_session.ServiceConsoleState.CouchAutomatic.MoveTo(CouchAutoOptions.LAT);
_session.Keyboard.EnterNumber(couchLat);
this.MotionWatch.AddMotion(_session.MachineState.CouchLat, couchLat, _session.MachineConstraints.CouchMoveCMPerSec);
}
if (couchRotChange)
{
_session.ServiceConsoleState.CouchAutomatic.MoveTo(CouchAutoOptions.ROT);
_session.Keyboard.EnterNumber(couchRot);
this.MotionWatch.AddMotion(_session.MachineState.CouchRot, couchRot, _session.MachineConstraints.CouchRotDegPerSec);
}
_session.Keyboard.PressF2();
this.MotionWatch.StartMotionClock();
//Update machine state
_session.MachineState.CouchVert = couchVert;
_session.MachineState.CouchLat = couchLat;
_session.MachineState.CouchLng = couchLong;
_session.MachineState.CouchRot = couchRot;
}
public void Initialize(string comPort)
{
Logger?.Log($"Initalizing Autodrive on port {comPort}");
_session = ServiceModeSession.Instance;
if (Logger != null)
{
_session.Logger = Logger;
}
_session.Keyboard = new VetraKeyboard(comPort);
_session.KeySpeedMs = 100;
_session.ResetConsoleState();
}
