public WiseVirtualMotor(
string name,
WisePin motorPin,
WisePin guideMotorPin,
WisePin slewPin,
TelescopeAxes axis,
Const.AxisDirection direction,
List <object> encoders = null)
{
this.WiseName = name;
this.motorPin = motorPin;
this.guideMotorPin = guideMotorPin;
this.slewPin = slewPin;
this.allPins = new List <WisePin> {
motorPin, slewPin, guideMotorPin
};
this.encoders = encoders;
this._axis = axis;
this._otherAxis = (_axis == TelescopeAxes.axisPrimary) ?
TelescopeAxes.axisSecondary : TelescopeAxes.axisPrimary;
this._direction = direction;
if (Simulated && (encoders == null || encoders.Count() == 0))
{
throw new WiseException(WiseName + ": A simulated WiseVirtualMotor must have at least one encoder reference");
}
if (Simulated)
{
simulationTimerFrequency = 30; // 15;
TimerCallback TimerCallback = new TimerCallback(bumpEncoders);
simulationTimer = new System.Threading.Timer(TimerCallback, null, Timeout.Infinite, Timeout.Infinite);
}
}
/// <summary>
/// For movement-study ONLY. Implements a timed-movement (as opposed to a measured-movement in the driver)
/// </summary>
/// <returns></returns>
List <TimedMovementResult> MakeStepsInTheBackground(BackgroundWorker bgw, TimedMovementArg arg)
{
List <TimedMovementResult> bgResults = new List <TimedMovementResult>();
Const.AxisDirection direction = arg.rate < 0 ? Const.AxisDirection.Decreasing : Const.AxisDirection.Increasing;
for (int stepNo = 0; stepNo < arg.nsteps; stepNo++)
{
int selector;
TimedMovementResult res = new TimedMovementResult(arg.axis);
res.cancelled = false;
res.threadId = Thread.CurrentThread.ManagedThreadId;
selector = (int)TimedMovementResult.ResultSelector.AtStart;
res.time[selector] = DateTime.Now; res.encoder_angle[selector] = arg.axis == TelescopeAxes.axisPrimary ?
Angle.FromHours(wisetele.RightAscension) :
Angle.FromDegrees(wisetele.Declination);
if (bgw.CancellationPending)
{
res.cancelled = true;
bgResults.Add(res);
break;
}
wisetele.MoveAxis(arg.axis, arg.rate);
for (long endTicks = DateTime.Now.Ticks + 10000 * arg.millis; DateTime.Now.Ticks < endTicks; Thread.Sleep(1))
{
if (bgw.CancellationPending)
{
wisetele.Stop();
res.cancelled = true;
bgResults.Add(res);
goto Out;
}
}
selector = (int)TimedMovementResult.ResultSelector.AtStop;
res.time[selector] = DateTime.Now; res.encoder_angle[selector] = arg.axis == TelescopeAxes.axisPrimary ?
Angle.FromHours(wisetele.RightAscension) :
Angle.FromDegrees(wisetele.Declination);
if (wisetele.Simulated) // move some more, to simulate telescope inertia
{
wisetele.MoveAxis(arg.axis, arg.rate);
long deltaTicks = 10000 * (long)(WiseTele.Instance.movementParameters[arg.axis][arg.rate].stopMovement.Degrees * WiseTele.Instance.movementParameters[arg.axis][arg.rate].millisecondsPerDegree);
for (long endTicks = DateTime.Now.Ticks + deltaTicks; DateTime.Now.Ticks < endTicks; Thread.Sleep(10))
{
if (bgw.CancellationPending)
{
wisetele.Stop();
res.cancelled = true;
bgResults.Add(res);
goto Out;
}
}
}
wisetele.Stop();
if (bgw.CancellationPending)
{
res.cancelled = true;
bgResults.Add(res);
goto Out;
}
while (wisetele.AxisIsMoving(arg.axis))
{
if (bgw.CancellationPending)
{
res.cancelled = true;
bgResults.Add(res);
goto Out;
}
Thread.Sleep(500);
}
selector = (int)TimedMovementResult.ResultSelector.AtIdle;
res.time[selector] = DateTime.Now; res.encoder_angle[selector] = arg.axis == TelescopeAxes.axisPrimary ?
Angle.FromHours(wisetele.RightAscension) :
Angle.FromDegrees(wisetele.Declination);
bgResults.Add(res);
}
Out:
return(bgResults);
}
public ShortestDistanceResult()
{
angle = Angle.invalid;
direction = Const.AxisDirection.None;
}
public ShortestDistanceResult(Angle a, Const.AxisDirection d)
{
angle = a;
direction = d;
}