/// <summary>
/// Implicit constructor
/// </summary>
public MainController()
{
Actuators = new Actuators();
ActuatorInContext = new ActuatorController();
actuatorErrorHandler = new ActuatorErrorHandler(this);
logController = new LogController();
notifList = new List <Notification>();
isFirstTimeLaunch = true;
InitActuators();
InitBgWorkers();
}
/// <summary>
/// Comprehensive method which logs all members of Entities.ActuatorEntity objects
/// </summary>
/// <param name="actuator">object of type Controller.ActuatorController </param>
public void LogAllSettings(ActuatorController actuator)
{
Logger.Log.Info(
"\nActuator entire log: \n\n" +
"accessories_settings_t:" +
"\n\t LimitSwitchesSettings: " + actuator.AccessoriesSettings.LimitSwitchesSettings +
"\n\t MagneticBrakeInfo: " + actuator.AccessoriesSettings.MagneticBrakeInfo +
"\n\t MBRatedCurrent: " + actuator.AccessoriesSettings.MBRatedCurrent +
"\n\t MBRatedVoltage: " + actuator.AccessoriesSettings.MBRatedVoltage +
"\n\t MBSettings: " + actuator.AccessoriesSettings.MBSettings +
"\n\t MBTorque: " + actuator.AccessoriesSettings.MBTorque +
"\n\t TemperatureSensorInfo: " + actuator.AccessoriesSettings.TemperatureSensorInfo +
"\n\t TSGrad: " + actuator.AccessoriesSettings.TSGrad +
"\n\t TSMax: " + actuator.AccessoriesSettings.TSMax +
"\n\t TSMin: " + actuator.AccessoriesSettings.TSMin +
"\n\t TSSettings: " + actuator.AccessoriesSettings.TSSettings +
"\n\n analog_data_t:" +
"\n\t A1Voltage: " + actuator.AnalogData.A1Voltage +
"\n\t A1Voltage_ADC: " + actuator.AnalogData.A1Voltage_ADC +
"\n\t A2Voltage: " + actuator.AnalogData.A2Voltage +
"\n\t A2Voltage_ADC: " + actuator.AnalogData.A2Voltage_ADC +
"\n\t ACurrent: " + actuator.AnalogData.ACurrent +
"\n\t ACurrent_ADC: " + actuator.AnalogData.ACurrent_ADC +
"\n\t B1Voltage: " + actuator.AnalogData.B1Voltage +
"\n\t B1Voltage_ADC: " + actuator.AnalogData.B1Voltage_ADC +
"\n\t B2Voltage: " + actuator.AnalogData.B2Voltage +
"\n\t B2Voltage_ADC: " + actuator.AnalogData.B2Voltage_ADC +
"\n\t deprecated: " + actuator.AnalogData.deprecated +
"\n\t FullCurrent: " + actuator.AnalogData.FullCurrent +
"\n\t FullCurrent_ADC: " + actuator.AnalogData.FullCurrent_ADC +
"\n\t H5: " + actuator.AnalogData.H5 +
"\n\t H5_ADC: " + actuator.AnalogData.H5_ADC +
"\n\t Joy: " + actuator.AnalogData.Joy +
"\n\t Joy_ADC: " + actuator.AnalogData.Joy_ADC +
"\n\t L: " + actuator.AnalogData.L +
"\n\t L5: " + actuator.AnalogData.L5 +
"\n\t L5_ADC: " + actuator.AnalogData.L5_ADC +
"\n\t Pot: " + actuator.AnalogData.Pot +
"\n\t Pot_ADC: " + actuator.AnalogData.Pot_ADC +
"\n\t R: " + actuator.AnalogData.R +
"\n\t SupVoltage: " + actuator.AnalogData.SupVoltage +
"\n\t SupVoltage_ADC: " + actuator.AnalogData.SupVoltage_ADC +
"\n\t Temp: " + actuator.AnalogData.Temp +
"\n\t Temp_ADC: " + actuator.AnalogData.Temp_ADC +
"\n\n brake_settings_t:" +
"\n\t t1: " + actuator.BrakeSettings.t1 +
"\n\t t2: " + actuator.BrakeSettings.t2 +
"\n\t t3: " + actuator.BrakeSettings.t3 +
"\n\t t4: " + actuator.BrakeSettings.t4 +
"\n\n calibration_settings_t:" +
"\n\t CSS1_A: " + actuator.CalibrationSettings.CSS1_A +
"\n\t CSS1_B: " + actuator.CalibrationSettings.CSS1_B +
"\n\t CSS2_A: " + actuator.CalibrationSettings.CSS2_A +
"\n\t CSS2_B: " + actuator.CalibrationSettings.CSS2_B +
"\n\t FullCurrent_A: " + actuator.CalibrationSettings.FullCurrent_A +
"\n\t FullCurrent_B: " + actuator.CalibrationSettings.FullCurrent_B +
"\n\n chart_data_t:" +
"\n\t DutyCycle: " + actuator.ChartData.DutyCycle +
"\n\t Joy: " + actuator.ChartData.Joy +
"\n\t Pot: " + actuator.ChartData.Pot +
"\n\t WindingCurrentA: " + actuator.ChartData.WindingCurrentA +
"\n\t WindingCurrentB: " + actuator.ChartData.WindingCurrentB +
"\n\t WindingCurrentC: " + actuator.ChartData.WindingCurrentC +
"\n\t WindingVoltageA: " + actuator.ChartData.WindingVoltageA +
"\n\t WindingVoltageB: " + actuator.ChartData.WindingVoltageB +
"\n\t WindingVoltageC: " + actuator.ChartData.WindingVoltageC +
"\n\n controller_name_t:" +
"\n\t ControllerName: " + actuator.ControllerName.ControllerName +
"\n\t CtrlFlags: " + actuator.ControllerName.CtrlFlags.ToString("X") +
"\n\n control_settings_t:" +
"\n\t DeltaPosition: " + actuator.ControlSettings.DeltaPosition +
"\n\t Flags: " + actuator.ControlSettings.Flags +
"\n\t MaxClickTime: " + actuator.ControlSettings.MaxClickTime +
"\n\t MaxSpeed: " + actuator.ControlSettings.MaxSpeed +
"\n\t Timeout: " + actuator.ControlSettings.Timeout +
"\n\t uDeltaPosition: " + actuator.ControlSettings.uDeltaPosition +
"\n\t uMaxSpeed: " + actuator.ControlSettings.uMaxSpeed +
"\n\n ctp_settings_t:" +
"\n\t CTPFlags: " + actuator.CtpSettings.CTPFlags.ToString("X") +
"\n\t CTPMinError: " + actuator.CtpSettings.CTPMinError +
"\n\n device_information_t:" +
"\n\t Major: " + actuator.DeviceInformation.Major +
"\n\t Manufacturer: " + actuator.DeviceInformation.Manufacturer +
"\n\t ManufacturerId: " + actuator.DeviceInformation.ManufacturerId +
"\n\t Minor: " + actuator.DeviceInformation.Minor +
"\n\t ProductDescription: " + actuator.DeviceInformation.ProductDescription +
"\n\t Release: " + actuator.DeviceInformation.Release +
"\n\n edges_settings_t:" +
"\n\t BorderFlags " + actuator.EdgesSettings.BorderFlags +
"\n\t EnderFlags " + actuator.EdgesSettings.EnderFlags +
"\n\t LeftBorder " + actuator.EdgesSettings.LeftBorder +
"\n\t RightBorder " + actuator.EdgesSettings.RightBorder +
"\n\t uLeftBorder " + actuator.EdgesSettings.uLeftBorder +
"\n\t uRightBorder " + actuator.EdgesSettings.uRightBorder +
"\n\n encoder_information_t:" +
"\n\t Manufacturer: " + actuator.EncoderInformation.Manufacturer +
"\n\t PartNumber: " + actuator.EncoderInformation.PartNumber +
"\n\n encoder_settings_t:" +
"\n\t EncoderSettings " + actuator.EncoderSettings.EncoderSettings +
"\n\t MaxCurrentConsumption " + actuator.EncoderSettings.MaxCurrentConsumption +
"\n\t MaxOperatingFrequency " + actuator.EncoderSettings.MaxOperatingFrequency +
"\n\t PPR " + actuator.EncoderSettings.PPR +
"\n\t SupplyVoltageMax " + actuator.EncoderSettings.SupplyVoltageMax +
"\n\t SupplyVoltageMin " + actuator.EncoderSettings.SupplyVoltageMin +
"\n\n encoder_settings_t:" +
"\n\t Antiplay " + actuator.EngineSettings.Antiplay +
"\n\t EngineFlags " + actuator.EngineSettings.EngineFlags +
"\n\t MicrostepMode " + actuator.EngineSettings.MicrostepMode +
"\n\t NomCurrent " + actuator.EngineSettings.NomCurrent +
"\n\t NomSpeed " + actuator.EngineSettings.NomSpeed +
"\n\t NomVoltage " + actuator.EngineSettings.NomVoltage +
"\n\t StepsPerRev " + actuator.EngineSettings.StepsPerRev +
"\n\t uNomSpeed " + actuator.EngineSettings.uNomSpeed +
"\n\n encoder_settings_t:" +
"\n\t DriverType " + actuator.EntypeSettings.DriverType +
"\n\t EngineType " + actuator.EntypeSettings.EngineType +
"\n\n extio_settings_t:" +
"\n\t EXTIOModeFlags " + actuator.ExtioSettings.EXTIOModeFlags.ToString("X") +
"\n\t EXTIOSetupFlags " + actuator.ExtioSettings.EXTIOSetupFlags.ToString("X") +
"\n\n home_settings_t:" +
"\n\t FastHome " + actuator.HomeSettings.FastHome +
"\n\t HomeDelta " + actuator.HomeSettings.HomeDelta +
"\n\t HomeFlags " + actuator.HomeSettings.HomeFlags +
"\n\t SlowHome " + actuator.HomeSettings.SlowHome +
"\n\t uFastHome " + actuator.HomeSettings.uFastHome +
"\n\t uHomeDelta " + actuator.HomeSettings.uHomeDelta +
"\n\t uSlowHome " + actuator.HomeSettings.uSlowHome +
"\n\n measurements_t:" +
"\n\t Error " + actuator.MeasurementsData.Error +
"\n\t Length " + actuator.MeasurementsData.Length +
"\n\t Speed " + actuator.MeasurementsData.Speed +
"\n\n motor_information_t:" +
"\n\t Manufacturer " + actuator.MotorInformation.Manufacturer +
"\n\t PartNumber " + actuator.MotorInformation.PartNumber +
"\n\n motor_settings_t:" +
"\n\t DetentTorque " + actuator.MotorSettings.DetentTorque +
"\n\t MaxCurrent " + actuator.MotorSettings.MaxCurrent +
"\n\t MaxCurrentTime " + actuator.MotorSettings.MaxCurrentTime +
"\n\t MaxSpeed " + actuator.MotorSettings.MaxSpeed +
"\n\t MechanicalTimeConstant " + actuator.MotorSettings.MechanicalTimeConstant +
"\n\t MotorType " + actuator.MotorSettings.MotorType +
"\n\t NoLoadCurrent " + actuator.MotorSettings.NoLoadCurrent +
"\n\t NoLoadSpeed " + actuator.MotorSettings.NoLoadSpeed +
"\n\t NominalCurrent " + actuator.MotorSettings.NominalCurrent +
"\n\t NominalPower " + actuator.MotorSettings.NominalPower +
"\n\t NominalSpeed " + actuator.MotorSettings.NominalSpeed +
"\n\t NominalTorque " + actuator.MotorSettings.NominalTorque +
"\n\t NominalVoltage " + actuator.MotorSettings.NominalVoltage +
"\n\t Phases " + actuator.MotorSettings.Phases +
"\n\t Poles " + actuator.MotorSettings.Poles +
"\n\t ReservedField " + actuator.MotorSettings.ReservedField +
"\n\t RotorInertia " + actuator.MotorSettings.RotorInertia +
"\n\t SpeedConstant " + actuator.MotorSettings.SpeedConstant +
"\n\t SpeedTorqueGradient " + actuator.MotorSettings.SpeedTorqueGradient +
"\n\t StallTorque " + actuator.MotorSettings.StallTorque +
"\n\t TorqueConstant " + actuator.MotorSettings.TorqueConstant +
"\n\t WindingInductance " + actuator.MotorSettings.WindingInductance +
"\n\t WindingResistance " + actuator.MotorSettings.WindingResistance +
"\n\n move_settings_t:" +
"\n\t Accel " + actuator.MoveSettings.Accel +
"\n\t AntiplaySpeed " + actuator.MoveSettings.AntiplaySpeed +
"\n\t Decel " + actuator.MoveSettings.Decel +
"\n\t Speed " + actuator.MoveSettings.Speed +
"\n\t uAntiplaySpeed " + actuator.MoveSettings.uAntiplaySpeed +
"\n\t uSpeed " + actuator.MoveSettings.uSpeed +
"\n\n pid_settings_t:" +
"\n\t Kdf " + actuator.PidSettings.Kdf +
"\n\t KdU " + actuator.PidSettings.KdU +
"\n\t Kif " + actuator.PidSettings.Kif +
"\n\t KiU " + actuator.PidSettings.KiU +
"\n\t Kpf " + actuator.PidSettings.Kpf +
"\n\t KpU " + actuator.PidSettings.KpU +
"\n\n get_position_t:" +
"\n\t EncPosition " + actuator.GetPositionData.EncPosition +
"\n\t Position " + actuator.GetPositionData.Position +
"\n\t uPosition " + actuator.GetPositionData.uPosition +
"\n\n get_position_t:" +
"\n\t CurrentSetTime " + actuator.PowerSettings.CurrentSetTime +
"\n\t CurrReductDelay " + actuator.PowerSettings.CurrReductDelay +
"\n\t HoldCurrent " + actuator.PowerSettings.HoldCurrent +
"\n\t PowerFlags " + actuator.PowerSettings.PowerFlags +
"\n\t PowerOffDelay " + actuator.PowerSettings.PowerOffDelay +
"\n\n get_position_t:" +
"\n\tCriticalIpwr " + actuator.SecureSettings.CriticalIpwr +
"\n\tCriticalIusb " + actuator.SecureSettings.CriticalIusb +
"\n\tCriticalT " + actuator.SecureSettings.CriticalT +
"\n\tCriticalUpwr " + actuator.SecureSettings.CriticalUpwr +
"\n\tCriticalUusb " + actuator.SecureSettings.CriticalUusb +
"\n\tFlags " + actuator.SecureSettings.Flags +
"\n\tLowUpwrOff " + actuator.SecureSettings.LowUpwrOff +
"\n\tMinimumUusb " + actuator.SecureSettings.MinimumUusb +
"\n\n status_t:" +
"\n\t CmdBufFreeSpace " + actuator.Status.CmdBufFreeSpace +
"\n\t CurPosition " + actuator.Status.CurPosition +
"\n\t CurSpeed " + actuator.Status.CurSpeed +
"\n\t CurT " + actuator.Status.CurT +
"\n\t EncPosition " + actuator.Status.EncPosition +
"\n\t EncSts " + actuator.Status.EncSts +
"\n\t Flags " + actuator.Status.Flags +
"\n\t GPIOFlags " + actuator.Status.GPIOFlags +
"\n\t Ipwr " + actuator.Status.Ipwr +
"\n\t Iusb " + actuator.Status.Iusb +
"\n\t MoveSts " + actuator.Status.MoveSts +
"\n\t MvCmdSts " + actuator.Status.MvCmdSts +
"\n\t PWRSts " + actuator.Status.PWRSts +
"\n\t uCurPosition " + actuator.Status.uCurPosition +
"\n\t uCurSpeed " + actuator.Status.uCurSpeed +
"\n\t Upwr " + actuator.Status.Upwr +
"\n\t Uusb " + actuator.Status.Uusb +
"\n\t WindSts " + actuator.Status.WindSts +
"\n\n status_calb_t:" +
"\n\t CmdBufFreeSpace " + actuator.StatusCalibration.CmdBufFreeSpace +
"\n\t CurPosition " + actuator.StatusCalibration.CurPosition +
"\n\t CurSpeed " + actuator.StatusCalibration.CurSpeed +
"\n\t CurT " + actuator.StatusCalibration.CurT +
"\n\t EncPosition " + actuator.StatusCalibration.EncPosition +
"\n\t EncSts " + actuator.StatusCalibration.EncSts +
"\n\t Flags " + actuator.StatusCalibration.Flags +
"\n\t GPIOFlags " + actuator.StatusCalibration.GPIOFlags +
"\n\t Ipwr " + actuator.StatusCalibration.Ipwr +
"\n\t Iusb " + actuator.StatusCalibration.Iusb +
"\n\t MoveSts " + actuator.StatusCalibration.MoveSts +
"\n\t MvCmdSts " + actuator.StatusCalibration.MvCmdSts +
"\n\t PWRSts " + actuator.StatusCalibration.PWRSts +
"\n\t Upwr " + actuator.StatusCalibration.Upwr +
"\n\t Uusb " + actuator.StatusCalibration.Uusb +
"\n\t WindSts " + actuator.StatusCalibration.WindSts +
"\n\n sync_in_settings_t:" +
"\n\t ClutterTime " + actuator.SyncInSettings.ClutterTime +
"\n\t Position " + actuator.SyncInSettings.Position +
"\n\t Speed " + actuator.SyncInSettings.Speed +
"\n\t SyncInFlags " + actuator.SyncInSettings.SyncInFlags +
"\n\t uPosition " + actuator.SyncInSettings.uPosition +
"\n\t uSpeed " + actuator.SyncInSettings.uSpeed +
"\n\n sync_out_settings_t:" +
"\n\t ClutterTime " + actuator.SyncOutSettings.Accuracy +
"\n\t Position " + actuator.SyncOutSettings.SyncOutFlags +
"\n\t Speed " + actuator.SyncOutSettings.SyncOutPeriod +
"\n\t SyncInFlags " + actuator.SyncOutSettings.SyncOutPulseSteps +
"\n\t uPosition " + actuator.SyncOutSettings.uAccuracy
);
}
/// <summary>
/// Log events that refer to the execution of methods contained in the class Controller.ActuatorController
/// </summary>
/// <param name="infoLog">represents all possible log types, of type Entities.Enums.ActuatorLog</param>
/// <param name="actuator">object of type Controller.ActuatorController </param>
/// <param name="ActuatorLogTiming">defines either start, end, or don't care of the time when event occurs, of type >Entities.Enums.ActuatorLogTiming</param>
// Parameters ActuatorController and Enums.ActuatorLogTiming are optional
// LogActuatorInfo can be called with either 1, 2, or 3 parameters
public void LogActuatorInfo(Enums.ActuatorLog infoLog,
ActuatorController actuator = dummyActuator,
Enums.ActuatorLogTiming ActuatorLogTiming = Enums.ActuatorLogTiming.DontCare)
{
//switch (infoLog)
//{
// case Enums.ActuatorLog.CloseDevice:
// Logger.Log.Info(actuator.DeviceName + " was successfully closed");
// break;
// case Enums.ActuatorLog.MoveHome:
// if (ActuatorLogTiming == Enums.ActuatorLogTiming.Start)
// Logger.Log.Info(actuator.DeviceName + " intends to move to home position (0 steps, 0 microsteps)" +
// " with the speed" + " TO BE IMPELMENTED BLYAT");
// else
// {
// actuator.GetStatus(actuator.DeviceID);
// Logger.Log.Info(actuator.DeviceName + " arrived at home position (" + actuator.Status.uCurPosition + " steps and " +
// actuator.Status.uCurPosition + " microsteps) with the speed");
// }
// break;
// case Enums.ActuatorLog.MoveLeft:
// Logger.Log.Info(actuator.DeviceName + " started moving continuously left");
// break;
// case Enums.ActuatorLog.MoveToPosition:
// if (ActuatorLogTiming == Enums.ActuatorLogTiming.Start)
// Logger.Log.Info(actuator.DeviceName + " intends to move to position " + actuator.PositionSteps + " steps and " +
// actuator.PositionMicrosteps + " microsteps with the speed");
// else
// {
// actuator.GetStatus(actuator.DeviceID);
// Logger.Log.Info(actuator.DeviceName + " arrived at position " + actuator.Status.CurPosition + " steps and " +
// actuator.Status.uCurPosition + " microsteps with the speed");
// }
// break;
// case Enums.ActuatorLog.MoveRelatively:
// if (ActuatorLogTiming == Enums.ActuatorLogTiming.Start)
// Logger.Log.Info(actuator.DeviceName + " intends to shift by " + actuator.DeltaSteps + " steps and " +
// actuator.DeltaMicrosteps + " microsteps with the speed");
// else
// {
// actuator.GetStatus(actuator.DeviceID);
// Logger.Log.Info(actuator.DeviceName + " arrived at position " + actuator.Status.CurPosition + " steps and " +
// actuator.Status.uCurPosition + " microsteps with the speed");
// }
// break;
// case Enums.ActuatorLog.PowerOff:
// Logger.Log.Info(actuator.DeviceName + " successfully powered off");
// break;
// case Enums.ActuatorLog.MoveRight:
// Logger.Log.Info(actuator.DeviceName + " started moving continuously right");
// break;
// case Enums.ActuatorLog.SoftStop:
// if (ActuatorLogTiming == Enums.ActuatorLogTiming.Start)
// Logger.Log.Info(actuator.DeviceName + " intends to soft stop");
// else
// {
// actuator.GetStatus(actuator.DeviceID);
// Logger.Log.Info(actuator.DeviceName + " soft stopped at postion " + actuator.Status.CurPosition + " steps and " +
// actuator.Status.uCurPosition + " microsteps ");
// }
// break;
// case Enums.ActuatorLog.HardStop:
// if (ActuatorLogTiming == Enums.ActuatorLogTiming.Start)
// Logger.Log.Info(actuator.DeviceName + " intends to hard stop");
// else
// {
// actuator.GetStatus(actuator.DeviceID);
// Logger.Log.Info(actuator.DeviceName + " hard stopped at postion" + actuator.Status.CurPosition + " steps and " +
// actuator.Status.uCurPosition + " microsteps ");
// }
// break;
// case Enums.ActuatorLog.SetZero:
// Logger.Log.Info(actuator.DeviceName + " successfully set its new home (zero) position");
// break;
// case Enums.ActuatorLog.WaitForStop:
// Logger.Log.Info(actuator.DeviceName + " successfully waited and stopped");
// break;
// case Enums.ActuatorLog.OpenDevice:
// Logger.Log.Info(actuator.DeviceName + " was successfully opened");
// break;
// case Enums.ActuatorLog.NewActuatorInContext:
// Logger.Log.Info("Actuator with ID = " + actuator.DeviceID + " and name = " + actuator.DeviceName + " was brought into context");
// break;
// default: break;
//}
}
