static ICinema CreateCinema(CinemaType ct, EquipmentType et)
{
IRelay projector, lamp1, lamp2;
IEngine engine1, engine2;
if (et == EquipmentType.Noolite)
{
projector = new RelayNoolite();
lamp1 = new RelayNoolite();
lamp2 = new RelayZWave();
engine1 = new StepMotor();
engine2 = new StepMotor();
}
else
{
projector = new RelayZWave();
lamp1 = new RelayZWave();
lamp2 = new RelayZWave();
engine1 = new Motor();
engine2 = new Motor();
}
switch (ct)
{
case CinemaType.flat:
return(new CinemaFlat(lamp1, projector, engine1));
case CinemaType.cottadge:
return(new CinemaCottadge(projector, lamp1, lamp2, engine1, engine2));
default:
return(null);
}
}
public void ChangeSpeed(ref StepMotor thisMotor, int speed)
{
Busy = true;
byte[] byteSpeed = BitConverter.GetBytes(speed);
byte[] sendthis = new byte[] { Convert.ToByte('Q'), Convert.ToByte(thisMotor.ID), byteSpeed[0] };
string message = Encoding.ASCII.GetString(sendthis);
SendData(sendthis);
}
private void Init()
{
foreach (var mem in AxisManager.Instance.AxisDeviceS)
{
StepMotor motor = (StepMotor)mem.Value;
AxisControlZd axisControlZd = new AxisControlZd(motor);
flowLayoutPanel1.Controls.Add(axisControlZd);
Thread.Sleep(10);
}
}
public void ChangeDirection(ref StepMotor thisMotor, bool Checked)
{
Busy = true; // Sets busy flag
thisMotor.stepCheck = Checked;
if (thisMotor.stepCheck)
{
SendData(Encoding.ASCII.GetBytes("R" + thisMotor.ID));
}
else
{
SendData(Encoding.ASCII.GetBytes("F" + thisMotor.ID));
}
}
public void uStep(ref StepMotor thisMotor, bool Checked)
{
Busy = true; // Sets busy flag
thisMotor.stepCheck = Checked;
if (thisMotor.stepCheck)
{
SendData(Encoding.ASCII.GetBytes("W" + thisMotor.ID));
}
else
{
SendData(Encoding.ASCII.GetBytes("U" + thisMotor.ID));
}
}
public void MoveStage(ref StepMotor thisMotor, int step, char type)
{
//lock (locker)
{
Busy = true;
thisMotor.Pos = step;
byte[] bytePos = BitConverter.GetBytes(step);
byte[] sendthis = new byte[] { Convert.ToByte(type), Convert.ToByte(thisMotor.ID), bytePos[0], bytePos[1] };
string message = Encoding.ASCII.GetString(sendthis);
StatSender("Moving", thisMotor.ID);
SendData(sendthis);
}
}
public AxisControlZd(LogicAxis logicAxis)
{
InitializeComponent();
cmB_MoveMode.SelectedIndex = 0;
cmB_HomeDir.SelectedIndex = 0;
Motor = logicAxis.Motor;
this.label_AxisName.Text = logicAxis.DeviceName;
btn_Power.Text = Motor.PowerStatue ? "Power On" : "Power Off";
if (!logicAxis.IsHOme)
{
this.btn_Home.Enabled = false;
}
cmB_HomeDir.SelectedIndex = Motor.HomeDir;
txt_MaxSpeed.Text = Motor.MoveVM.ToString();
CancellationTokenSource = new CancellationTokenSource();
Task.Run(new Action(() => FrashPosition()), CancellationTokenSource.Token);
}
public AxisControlZd(StepMotor motor)
{
InitializeComponent();
cmB_MoveMode.SelectedIndex = 0;
cmB_HomeDir.SelectedIndex = 0;
Motor = motor;
this.label_AxisName.Text = Motor.DeviceName;
btn_Power.Text = Motor.PowerStatue ? "Power On" : "Power Off";
cmB_HomeDir.SelectedIndex = Motor.HomeDir;
txt_MaxSpeed.Text = Motor.MoveVM.ToString();
CancellationTokenSource = new CancellationTokenSource();
Task.Run(new Action(() => FrashPosition()), CancellationTokenSource.Token);
}
static void Main(string[] args)
{
WebClient wc = new WebClient();
Console.WriteLine("ok");
GPIOFile s1 = new GPIOFile(GPIOPins.V2_Pin_P1_11, GPIODirection.Out);
GPIOFile s2 = new GPIOFile(GPIOPins.V2_Pin_P1_12, GPIODirection.Out);
GPIOFile s3 = new GPIOFile(GPIOPins.V2_Pin_P1_13, GPIODirection.Out);
GPIOFile s4 = new GPIOFile(GPIOPins.V2_Pin_P1_15, GPIODirection.Out);
StepMotor m = new StepMotor(s1, s2, s3, s4);
while (true)
{
string json = wc.DownloadString("http://a.wrd.app.fit.ba/home/getcommand?take=1");
WebRezultat[] xArray = JsonConvert.DeserializeObject <WebRezultat[]>(json);
var x = xArray[0];
if (x.vrijednost == "Neretva_10_Plavo")
{
wc.DownloadString("http://a.wrd.app.fit.ba/home?pozicija=Odgovor_na_komandu&vrijednost=Neterva_99_Zeleno");
m.PokreniMotor(400, Direkcija.Naprijed);
}
else if (x.vrijednost == "Neretva_20_Plavo")
{
m.PokreniMotor(400, Direkcija.Nazad);
}
// System.Threading.Thread.Sleep(500);
}
}
bool m_isHome; //是否执行回原点操作
public LogicAxis(string devicename, Guid guid, StepMotor motor, bool isHome, uint homeIndex) : base(devicename, guid)
{
this.m_motor = motor;
this.m_isHome = isHome;
this.m_homeIndex = homeIndex;
}
private void ComInstruction(ref StepMotor myMotor) // Manages received instructions from board (and actions on request)
{
//lock (locker)
//{
//AuxSender("RxON");
bool receivedAction = false;
string lookup = "";
string command = "";
//if (RxString.Length >= 4) // Reads connection encoding and instruction
//{
lookup = RxString.Substring(0, 2);
command = RxString.Substring(2, 2);
//}
switch (command) // Reads command and checks action (or none)
{
case "MF": // Move Finished (Answers to 'P' request) //textBox1.Text = (Arduino.MainMotor.Pos + ", " + Arduino.MainMotor.PosRef);
receivedAction = true;
//myMotor.RxPos = BitConverter.ToUInt16(byteRead, 4) - 32;
if (myMotor.Pos == myMotor.PosRef) // Check if position is up-to-date
{
Busy = false;
StatSender("MoveFinished", myMotor.ID);
}
else
{
Busy = true;
MoveStage(ref myMotor, myMotor.PosRef, 'P');
StatSender("MoveIncomplete", myMotor.ID); // Sends movement request to board
}
break;
case "IF": // Information received
if (byteRead.Length == 12)
{
receivedAction = true; // Decode and allocate data
Busy = false;
//Thread.Sleep(50);
MainMotor.StepVal = BitConverter.ToUInt16(byteRead, 4).ToString();
MainMotor.CycleVal = BitConverter.ToUInt16(byteRead, 6).ToString();
MainMotor.TimeVal = BitConverter.ToUInt16(byteRead, 8).ToString();
AuxMotor.StepVal = BitConverter.ToUInt16(byteRead, 10).ToString();
StatSender("DataInfo", myMotor.ID);
break;
}
else
{
Busy = true;
receivedAction = false;
}
break;
case "OF": // Origin stablished
receivedAction = true;
Busy = false;
myMotor.Pos = 0;
myMotor.PosRef = 0;
myMotor.Cycle = 0;
StatSender("Origin", myMotor.ID);
break;
case "SF": // Cycle completed (Then sends board request for stablishing origin)
receivedAction = true;
Busy = false;
myMotor.Pos = 0;
myMotor.PosRef = 0;
StatSender("Cycle", myMotor.ID);
break;
case "VF": // Save completed
receivedAction = true;
Busy = false;
StatSender("DataSaved", myMotor.ID);
break;
case "LF":
receivedAction = true;
Busy = false;
StatSender("ServoMoved", myMotor.ID);
break;
//case "AF":
// receivedAction = true;
// Busy = false;
// myMotor.active = true;
// StatSender("Activated", myMotor.ID);
// break;
//case "DF":
// receivedAction = true;
// Busy = false;
// myMotor.active = false;
// StatSender("Deactivated", myMotor.ID);
// break;
case "CF":
receivedAction = true;
int temp = BitConverter.ToUInt16(byteRead, 4);
Temperature = (float)((temp * 500.0) / 1024.0);
//*****************For LM19***********
//var tempF = (5.0*temp) / 1024;
//MessageBox.Show(temp.ToString());
//Temperature = (float)(Math.Sqrt((2.1962 * Math.Pow(10, 6)) + ((1.8639 - tempF) / (3.88 * Math.Pow(10, -6)))) - 1481.96);
//*************************************
Busy = false;
StatSender("temperature", '¬');
break;
case "AF":
case "DF":
case "RF": // Completed reverse direction selection
case "FF": // Completed forward direction selection
case "QF": // Completed speed selection
case "UF": // Completed normal step selection
case "WF": // Completed uStep selection
case "KF":
receivedAction = true;
Busy = false;
break;
default:
receivedAction = false;
break;
}
//AuxSender("RxOFF");
if (!receivedAction) // If no correct response from board is received, send again board request
{
PortCOM.Write(TxByte, 0, TxByte.Length);
}
//}
}
public void Deactivate(StepMotor thisMotor)
{
Busy = true;
SendData(Encoding.ASCII.GetBytes("D" + thisMotor.ID));
}
public void SetOrigin(ref StepMotor thisMotor)
{
Busy = true; // Sets busy flag
//Thread.Sleep(5);
SendData(Encoding.ASCII.GetBytes("O" + thisMotor.ID));
}
