public void test_MCU_Time_Estimate()
{
int vel = 170_000, dist = 10_000_000;
int time = MCUManager.EstimateMovementTime(vel, dist);
Assert.AreEqual(61800, time);
}
public int RelativeMovementETA(Orientation movingBy)
{
// distance is degrees to steps for az/el
// time is in milliseconds
int EL_Speed = ConversionHelper.DPSToSPS(ConversionHelper.RPMToDPS(0.6), MotorConstants.GEARING_RATIO_ELEVATION);
int AZ_Speed = ConversionHelper.DPSToSPS(ConversionHelper.RPMToDPS(0.6), MotorConstants.GEARING_RATIO_AZIMUTH);
int positionTranslationAZ = ConversionHelper.DegreesToSteps(movingBy.Azimuth, MotorConstants.GEARING_RATIO_AZIMUTH);
int positionTranslationEL = ConversionHelper.DegreesToSteps(movingBy.Elevation, MotorConstants.GEARING_RATIO_ELEVATION);
int timeToMoveEl = MCUManager.EstimateMovementTime(EL_Speed, positionTranslationEL);
int timeToMoveAz = MCUManager.EstimateMovementTime(AZ_Speed, positionTranslationAZ);
// return the greater of the two times (we have to wait for longest mvmt)
int timeToMove = timeToMoveEl > timeToMoveAz ? timeToMoveEl : timeToMoveAz;
return(timeToMove);
}
/// <summary>
/// starts a modbus server to comunicate with the PLC on PLC_port and local_ip
/// then sets up a modbus client to comunicate with the MCU located at MCU_ip, MCU_port (192.168.0.50 , 502) for actual hardware
/// </summary>
/// <param name="local_ip"></param>
/// <param name="MCU_ip"></param>
/// <param name="MCU_port"></param>
/// <param name="PLC_port"></param>
public ProductionPLCDriver(string local_ip, string MCU_ip, int MCU_port, int PLC_port) : base(local_ip, MCU_ip, MCU_port, PLC_port)
{
limitSwitchData = new Simulators.Hardware.LimitSwitchData();
homeSensorData = new Simulators.Hardware.HomeSensorData();
pLCEvents = new PLCEvents();
MCU = new MCUManager(MCU_ip, MCU_port);
try {
PLCTCPListener = new TcpListener(new IPEndPoint(IPAddress.Parse(local_ip), PLC_port));
ClientManagmentThread = new Thread(new ThreadStart(HandleClientManagementThread))
{
Name = "PLC server Thread"
};
}
catch (Exception e)
{
if ((e is ArgumentNullException) || (e is ArgumentOutOfRangeException))
{
logger.Info(Utilities.GetTimeStamp() + ": [AbstractPLCDriver] ERROR: failure creating PLC TCP server or management thread: " + e.ToString());
return;
}
else
{
throw e;
} // Unexpected exception
}
try
{
PLCTCPListener.Start(1);
}
catch (Exception e)
{
if ((e is SocketException) || (e is ArgumentOutOfRangeException) || (e is InvalidOperationException))
{
logger.Info(Utilities.GetTimeStamp() + ": [AbstractPLCDriver] ERROR: failure starting PLC TCP server: " + e.ToString());
return;
}
}
}
