//public static string rawCommand(string function, string command)
//{
// return rawCommand(function, command, false);
//}
//public static string rawCommand(string function, string command, bool raw)
public static string rawCommand(string command, bool raw)
{
try
{
string answer = SharedResources.SendMessage(command);
if (raw)
{
return(answer.Trim());
}
else
{
return(answer.Substring(2).Trim());
}
}
catch (System.TimeoutException e)
{
tl.LogMessage("Arduino Timeout exception", e.Message);
}
catch (ASCOM.Utilities.Exceptions.SerialPortInUseException e)
{
tl.LogMessage("Arduino Serial port in use exception", "Command: " + command + ", " + e.Message);
}
catch (ASCOM.NotConnectedException e)
{
tl.LogMessage("Arduino Not connected exception", e.Message);
}
catch (ASCOM.DriverException e)
{
tl.LogMessage("Arduino Driver exception", e.Message);
}
return(String.Empty);
}
public void Halt()
{
SharedResources.Halt();
// CommandString("S#", false);
// tl.LogMessage("Halt", "Not implemented");
// throw new ASCOM.MethodNotImplementedException("Halt");
}
// private string ASCOMfunction = "f"; // may not be needed
public string CommandString(string command, bool raw)
{
CheckConnected("CommandString");
// it's a good idea to put all the low level communication with the device here,
// then all communication calls this function
// you need something to ensure that only one command is in progress at a time
// throw new ASCOM.MethodNotImplementedException("CommandString");
// return SharedResources.rawCommand(ASCOMfunction, command, raw); //? ascomfunction ???? maynot be needed.....
return(SharedResources.rawCommand(command, raw)); //? ascomfunction ???? maynot be needed.....
}
//public double RelativeAngleToMotorSteps(float angle)
//{
// var targetSteps1 = angle % 360.00F * stepsPerDegree;
// return targetSteps1;
//}
//public double PositionAngleToMotorSteps(float targetPositionAngle)
//{
// float targetAngle = 0;
// var absTargetAngle1 = targetPositionAngle + 360;
// var absTargetAngle2 = targetPositionAngle;
// var angleDelta1 = absTargetAngle1 - StepperPos / stepsPerDegree;
// var angleDelta2 = StepperPos / stepsPerDegree - absTargetAngle2;
// if (absTargetAngle1 < 0 || absTargetAngle1 > 720)
// {
// targetAngle = absTargetAngle2;
// return targetAngle * stepsPerDegree;
// }
// if (absTargetAngle2 < 0 || absTargetAngle2 > 720)
// {
// targetAngle = absTargetAngle1;
// return targetAngle * stepsPerDegree;
// }
// if (angleDelta1 < angleDelta2)
// {
// // if target is close to 0 or 72000 AND the move is < 90 degrees then go there(acceptable if close)...otherwise want to stay close to 36000
// if ((absTargetAngle1 < 90 && angleDelta1 < 90) || (absTargetAngle1 > 630 && angleDelta1 < 90))
// targetAngle = absTargetAngle1;
// else
// targetAngle = absTargetAngle2;
// if (absTargetAngle1 >= 90 && absTargetAngle1 <= 630) // if outside the close to 0/72000 zone then use smaller delta
// targetAngle = absTargetAngle1;
// }
// else // delta 2 is smaller so in general use it unless within 90 of 0/72000 OR if close then ok
// {
// if ((absTargetAngle2 < 90 && angleDelta2 < 90) || (absTargetAngle2 > 630 && angleDelta2 < 90))
// targetAngle = absTargetAngle2;
// else
// targetAngle = absTargetAngle1;
// if (absTargetAngle2 >= 90 && absTargetAngle2 <= 630)
// targetAngle = absTargetAngle2;
// }
// return targetAngle * stepsPerDegree;
//}
public void MoveAbsolute(float pos)
{
SharedResources.MoveAbsolute(pos);
//var stepPosition = PositionAngleToMotorSteps(pos);
//targetPosition = pos;
//// TargetPosition = pos;
//CommandString("M " + Math.Round(stepPosition, 0) + "#", false); // Position was 'int value' for focuser // corrects for 100 steps per degree, need to replace with user defined variable.
//lastMoving = true; //remd 1-12-15
//tl.LogMessage("MoveAbsolute", Position.ToString()); // Move to this position
//rotatorPosition = Position;
//rotatorPosition = (float)astroUtilities.Range(rotatorPosition, 0.0, true, 360.0, false); // Ensure value is in the range 0.0..359.9999...
}
//remd 4-24-17
//public bool Link
//{
// get
// {
// long now = DateTime.Now.Ticks;
// if (now - lastL > UPDATETICKS)
// {
// if (serialPort != null)
// lastLink = serialPort.Connected;
// lastL = now;
// return lastLink;
// }
// return lastLink;
// }
// set
// {
// this.Connected = value;
// }
// /*
// get
// {
// tl.LogMessage("Link Get", this.Connected.ToString());
// return this.Connected; // Direct function to the connected method, the Link method is just here for backwards compatibility
// }
// set
// {
// tl.LogMessage("Link Set", value.ToString());
// this.Connected = value; // Direct function to the connected method, the Link method is just here for backwards compatibility
// }
// */
//}
public void Move(float pos)
{
SharedResources.Move(pos);
//double moveTo = StepperPos + RelativeAngleToMotorSteps(pos); // current position in steps + number of steps needed to
//targetPosition = pos;
//if (moveTo >= 720 * stepsPerDegree) // was 72000
// moveTo -= 360 * stepsPerDegree;
//if (moveTo < 0)
// moveTo += 360 * stepsPerDegree;
//CommandString("M " + Math.Round(moveTo, 0) + "#", false); // Position was 'int value' for focuser
//lastMoving = true; //remd 1-12-15
//tl.LogMessage("Move", Position.ToString()); // Move by this amount
//rotatorPosition += Position;
//rotatorPosition = (float)astroUtilities.Range(rotatorPosition, 0.0, true, 360.0, false); // Ensure value is in the range 0.0..359.9999...
}
//
// PUBLIC COM INTERFACE IRotatorV2 IMPLEMENTATION
//
#region Common properties and methods.
/// <summary>
/// Displays the Setup Dialog form.
/// If the user clicks the OK button to dismiss the form, then
/// the new settings are saved, otherwise the old values are reloaded.
/// THIS IS THE ONLY PLACE WHERE SHOWING USER INTERFACE IS ALLOWED!
/// </summary>
public void SetupDialog()
{
SharedResources.RunSetupDialog();
// consider only showing the setup dialog if not connected
// or call a different dialog if connected
//if (SharedResources.SharedSerial.Connected)
//{
// System.Windows.Forms.MessageBox.Show("Already connected, just press OK");
//}
//else
//{
//using (SetupDialogForm F = new SetupDialogForm())
//{
// var result = F.ShowDialog();
// if (result == System.Windows.Forms.DialogResult.OK)
// {
// WriteProfile(); // Persist device configuration values to the ASCOM Profile store
// }
//}
//using (ServerSetupDialog setupSerial = new ServerSetupDialog())
//{
// setupSerial.ShowDialog();
//}
// }
// remd 4-24-17
//if (IsConnected)
// System.Windows.Forms.MessageBox.Show("Already connected, just press OK");
}
