private static IBuffer CreateRequest(PositionControllerCommand command, PositionControllerDirection direction, uint steps, byte[] buffer)
{
if (buffer == null || buffer.Length < REQUEST_LENGTH)
{
throw new ArgumentException($"'{nameof(buffer)}' parameter is null or too small");
}
using (Stream s = new MemoryStream(buffer))
{
using (BinaryWriter bw = new BinaryWriter(s))
{
bw.Write((ushort)DATA_HEADER);
bw.Write((byte)command);
bw.Write((byte)direction);
bw.Write((uint)steps);
}
}
Stm32Crc32 crc32 = new Stm32Crc32(CRC32_INITIAL_VALUE, CRC32_POLYNOMIAL);
using (Stream s = new MemoryStream(buffer))
{
using (BinaryReader br = new BinaryReader(s))
{
crc32.Encode(br.ReadUInt32());
crc32.Encode(br.ReadUInt32());
}
}
using (Stream s = new MemoryStream(buffer, 8, 4))
{
using (BinaryWriter bw = new BinaryWriter(s))
{
bw.Write((uint)crc32.GetValue());
}
}
return(buffer.AsBuffer());
}
private void SetStatus(string message, PositionControllerCommand fromCommand, PositionControllerResponse status)
{
if (status != null &&
status.Status == PositionControllerStatus.PC_OK_IDLE && /* no errors should be present for calibration to be considered successful */
fromCommand == PositionControllerCommand.CALIBRATE)
{
this.maxPosition = status.Position;
}
if (status == null)
{
Position = double.NaN;
StatusDisplayName = STATUS_DISPLAY_NAME_NOT_AVAILABLE;
}
else
{
Position = ((double)status.Position) * PositionController.DISTANCE_PER_TICK_MM;
StatusDisplayName = StatusToDisplayName(status.Status);
IsEmergencyStopped = (status.Status & PositionControllerStatus.PC_OK_EMERGENCY_STOP) == PositionControllerStatus.PC_OK_EMERGENCY_STOP;
++PacketsTotalNumber;
if ((status.Status & ~PositionControllerStatus.PC_OK_MASK) != 0)
{
++PacketsFailuresNumber;
}
if ((status.Status & PositionControllerStatus.PC_ERR_CRC) != 0 ||
(status.Status & PositionControllerStatus.CS_ERR_CRC) != 0)
{
++PacketsCrcFailuresNumber;
}
if (!this.positionController.IsOkStatus(status.Status))
{
this.mainModel.LogEntries.Add(new PositionControllerErrorStatusLogEntry(message, fromCommand, status.Status));
}
}
}
public void SetStatus(PositionControllerCommand fromCommand, PositionControllerResponse status)
{
SetStatus(null, fromCommand, status);
}
public PositionControllerErrorStatusLogEntry(string message, PositionControllerCommand fromCommand, PositionControllerStatus status)
{
Title = message ?? fromCommand.ToString();
Details = status.ToString();
}
