private void StepperPositioningThreadStub()
{
if ((poKeysDevice == null) || (PE == null))
{
return;
}
while (StepperRunning)
{
// New Pulse engine state was commanded
if (NewStateCommanded)
{
PE.PulseEngineStateSetup = NewState;
poKeysDevice.PEv2_SetState(ref PE);
NewStateCommanded = false;
}
poKeysDevice.PEv2_GetStatus(ref PE);
if (PE.PulseEngineState > 100) // Error or limit
{
if (!ErrorFixed)
{
ErrorFixed = true;
Error = Translations.Main.StepperPositioningError;
}
// Do nothing else...
Thread.Sleep(10);
continue;
}
ErrorFixed = true;
// Position update was commanded
if (SetPosition)
{
for (int i = 0; i < 8; i++)
{
PE.PositionSetup[i] = SetAxisPos[i];
}
PE.param2 = 0xFF; // Set all 8 positions
poKeysDevice.PEv2_SetPositions(ref PE);
SetPosition = false;
}
// Homing was commanded
if (StartHoming)
{
IsHoming = true;
raiseHomingStatusChanged(IsHoming);
if (HomeStepper())
{
IsHomed = true;
}
IsHoming = false;
raiseHomingStatusChanged(IsHoming);
StartHoming = false;
}
if (PE.PulseEngineState != (byte)ePoKeysPEState.peRUNNING)
{
NewState = (byte)ePoKeysPEState.peRUNNING;
NewStateCommanded = true;
}
for (int i = 0; i < 8; i++)
{
// Check axes states and change them to position mode...
if ((PE.AxesConfig[i] & (byte)ePEv2_AxisConfig.aoPOSITION_MODE) == 0)
{
PE.AxesConfig[i] |= (byte)(ePEv2_AxisConfig.aoPOSITION_MODE);
PE.param1 = (byte)i;
poKeysDevice.PEv2_SetAxisConfiguration(ref PE);
}
}
if (CheckNewState)
{
switch (State)
{
case PoKeysStepperPositioningState.STOPPED:
// Stop the motion...
for (int i = 0; i < 8; i++)
{
PE.ReferencePositionSpeed[i] = PE.CurrentPosition[i];
}
break;
case PoKeysStepperPositioningState.MOVE_TO_POS:
for (int i = 0; i < 8; i++)
{
PE.ReferencePositionSpeed[i] = TargetAxisPos[i];
}
break;
}
poKeysDevice.PEv2_Move(ref PE);
CheckNewState = false;
}
else
{
// Check existing state
switch (State)
{
case PoKeysStepperPositioningState.STOPPED:
break;
case PoKeysStepperPositioningState.MOVE_TO_POS:
// Check if move is complete
if (IsMoveComplete(5))
{
State = StateAfterMove;
if (State == PoKeysStepperPositioningState.STOPPED)
{
// Well... do nothing...
}
else
{
CheckNewState = true;
}
}
break;
}
}
if (CommandMotion)
{
poKeysDevice.PEv2_Move(ref PE);
CommandMotion = false;
}
Thread.Sleep(10);
}
PE.PulseEngineStateSetup = (byte)ePoKeysPEState.peSTOPPED;
poKeysDevice.PEv2_SetState(ref PE);
poKeysDevice.DisconnectDevice();
}