private void Stageworker_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bgk = (BackgroundWorker)sender;
double delx = (double)mr.distance / 4194304 * 5.5;
string line = "";
Thread.Sleep(2000);
getload();
using (StreamWriter writer = new StreamWriter(datafile, true))
{
writer.WriteLine("deltax,load");
try
{
for (int i = 0; i < mr.numberofsteps; i++)
{
mr.posdirection = mrj4commander.posup;
mr.setpos();
mr.movepos();
Thread.Sleep(1000);
mr.posdirection = mrj4commander.posdown;
mr.setpos();
mr.movepos();
Thread.Sleep(1000);
getload();
msgchnl.setcurrMessage("delx= " + delx * (i + 1) + "-> Load= " + -1 * loadv);
line = "" + delx * (i + 1) + "," + -1 * loadv;
writer.WriteLine(line);
}
}
finally
{
writer.Close();
}
}
bgk.ReportProgress(100);
}
private bool reconnect()
{
//clear the info so far
if (MyUsbDevice != null)
{
writer.Dispose();
wholeUsbDevice.ReleaseInterface(0);
wholeUsbDevice.Close();
MyUsbDevice.Close();
UsbDevice.Exit();
}
//now start over
MyUsbFinder = new UsbDeviceFinder(0x06D3, 0x01D0);
MyUsbDevice = UsbDevice.OpenUsbDevice(MyUsbFinder);
// If the device is open and ready
if (MyUsbDevice == null)
{
msgchnl.setcurrMessage("Problem in reconnect() MyUsbDevice is null");
return(false);
}
else
{
wholeUsbDevice = MyUsbDevice as IUsbDevice;
if (!ReferenceEquals(wholeUsbDevice, null))
{
// Select config #1
wholeUsbDevice.SetConfiguration(1);
// Claim interface #0.
wholeUsbDevice.ClaimInterface(0);
}
writer = MyUsbDevice.OpenEndpointWriter(WriteEndpointID.Ep02);
reader = MyUsbDevice.OpenEndpointReader(ReadEndpointID.Ep01);
//Console.WriteLine("New Writer an reader was assigned");
return(true);
}
}
public mrj4commander(MessageChannel i_msgchnl)
{
this.msgchnl = i_msgchnl;
ec = ErrorCode.None;
readBuffer = new byte[32];
try
{
msgchnl.setcurrMessage("Initilazing MRJ-4");
// Find and open the usb device.
MyUsbDevice = UsbDevice.OpenUsbDevice(MyUsbFinder);
// If the device is open and ready
if (MyUsbDevice == null)
{
throw new Exception("Device Not Found.");
}
// If this is a "whole" usb device (libusb-win32, linux libusb)
// it will have an IUsbDevice interface. If not (WinUSB) the
// variable will be null indicating this is an interface of a
// device.
wholeUsbDevice = MyUsbDevice as IUsbDevice;
if (!ReferenceEquals(wholeUsbDevice, null))
{
// This is a "whole" USB device. Before it can be used,
// the desired configuration and interface must be selected.
// Select config #1
wholeUsbDevice.SetConfiguration(1);
// Claim interface #0.
wholeUsbDevice.ClaimInterface(0);
}
// open read endpoint 1.
reader = MyUsbDevice.OpenEndpointReader(ReadEndpointID.Ep01);
// open write endpoint 1.
writer = MyUsbDevice.OpenEndpointWriter(WriteEndpointID.Ep02);
msgchnl.setcurrMessage("Initilazing Completed");
}
catch (Exception ex)
{
msgchnl.setcurrMessage((ec != ErrorCode.None ? ec + ":" : String.Empty) + ex.Message);
}
this.posdirection = posup;
this.jogdirection = jogup;
#region ASCII encode definition
encode.Add("0 ", 0x20);
encode.Add("00", 0x30);
encode.Add("01", 0x31);
encode.Add("02", 0x32);
encode.Add("03", 0x33);
encode.Add("04", 0x34);
encode.Add("05", 0x35);
encode.Add("06", 0x36);
encode.Add("07", 0x37);
encode.Add("08", 0x38);
encode.Add("09", 0x39);
encode.Add("0A", 0x41);
encode.Add("0B", 0x42);
encode.Add("0C", 0x43);
encode.Add("0D", 0x44);
encode.Add("0E", 0x45);
encode.Add("0F", 0x46);
encode.Add("0L", 0x4C);
encode.Add("0O", 0x4F);
encode.Add("0P", 0x50);
encode.Add("0R", 0x52);
encode.Add("0S", 0x53);
encode.Add("0T", 0x54);
#endregion
#region ASCII decode definition
decode.Add(0x30, '0');
decode.Add(0x31, '1');
decode.Add(0x32, '2');
decode.Add(0x33, '3');
decode.Add(0x34, '4');
decode.Add(0x35, '5');
decode.Add(0x36, '6');
decode.Add(0x37, '7');
decode.Add(0x38, '8');
decode.Add(0x39, '9');
decode.Add(0x41, 'A');
decode.Add(0x42, 'B');
decode.Add(0x43, 'C');
decode.Add(0x44, 'D');
decode.Add(0x45, 'E');
decode.Add(0x46, 'F');
#endregion
#region Hex Conversion definition
hexdic.Add(0, '0');
hexdic.Add(1, '1');
hexdic.Add(2, '2');
hexdic.Add(3, '3');
hexdic.Add(4, '4');
hexdic.Add(5, '5');
hexdic.Add(6, '6');
hexdic.Add(7, '7');
hexdic.Add(8, '8');
hexdic.Add(9, '9');
hexdic.Add(10, 'A');
hexdic.Add(11, 'B');
hexdic.Add(12, 'C');
hexdic.Add(13, 'D');
hexdic.Add(14, 'E');
hexdic.Add(15, 'F');
#endregion
}
