private void button2_Click(object sender, EventArgs e)
{
this.button1.Enabled = true;
this.button2.Enabled = false;
this.button3.Enabled = false;
this.button4.Enabled = false;
this.button5.Enabled = false;
this.button6.Enabled = false;
this.button7.Enabled = false;
this.button8.Enabled = false;
this.button9.Enabled = false;
this.button10.Enabled = false;
this.button11.Enabled = false;
this.button12.Enabled = false;
this.button13.Enabled = false;
this.button14.Enabled = false;
this.button19.Enabled = false;
this.button20.Enabled = false;
this.checkBox1.Enabled = false;
this.checkBox2.Enabled = false;
this.checkBox3.Enabled = false;
this.checkBox4.Enabled = false;
this.checkBox5.Enabled = false;
this.checkBox6.Enabled = false;
otcxyz.PowerOff();
wsd.PowerOff();
tbl.PowerOff();
bus.StopBus();
}
/// <summary>
/// Power off all axis controllers and UPS
/// </summary>
public void PowerOff()
{
isPowerOn = false;
pcu.Disconnect();
UnregisterPCUService();
otcxyz.PowerOff();
wsd.PowerOff();
tbl.PowerOff();
bus.StopBus();
}
static void ParseSysCmd(string cmd)
{
string[] cmdArray = cmd.Split(new char[] { ' ' }, StringSplitOptions.RemoveEmptyEntries);
if (cmdArray.Length < 2)
{
Console.WriteLine("Bad Command");
return;
}
switch (cmdArray[0])
{
case "wsd":
switch (cmdArray[1])
{
case "powup":
if (busStarted)
{
if (wsd.OP_MODE != ControlOpMode.NoInit)
{
Console.WriteLine("WSD is already started,please stop first");
}
else
{
try
{
wsd.PowerUp();
Console.WriteLine("WSD is started successfully");
}
catch (Exception ex)
{
Console.WriteLine("WSD could not start");
Console.WriteLine("WSD ERROR: " + ex.Message);
}
}
}
else
{
Console.WriteLine("Need to start bus before start WSD");
}
break;
case "powoff":
if (wsd.OP_MODE != ControlOpMode.NoInit)
{
try
{
wsd.PowerOff();
Console.WriteLine("WSD is stopped successfully");
}
catch (Exception ex)
{
Console.WriteLine("WSD could not stop");
Console.WriteLine("WSD ERROR: " + ex.Message);
}
}
else
{
Console.WriteLine("WSD is already stopped,please start firstly");
}
break;
case "autocenter":
wsd.keypad.AUTO_CENTER_SW = true;
Thread.Sleep(500);
Console.Write("Moving.");
while ((wsd.OP_MODE != ControlOpMode.Idle) || (otcxyz.OP_MODE != ControlOpMode.Idle) || (tbl.OP_MODE != ControlOpMode.Idle) || (otcxyz.AB_OPMODE != ControlOpMode.Idle))
{
Console.Write(" .");
Thread.Sleep(500);
Console.Write(" .");
Thread.Sleep(500);
Console.Write(" .");
}
Console.WriteLine("");
Console.WriteLine("Auto Center Finished");
wsd.keypad.AUTO_CENTER_SW = false;
break;
case "autopos":
wsd.keypad.AUTO_POS_SW = true;
Thread.Sleep(500);
Console.Write("Moving.");
while ((wsd.OP_MODE != ControlOpMode.Idle) || (otcxyz.OP_MODE != ControlOpMode.Idle) || (tbl.OP_MODE != ControlOpMode.Idle) || (otcxyz.AB_OPMODE != ControlOpMode.Idle))
{
Console.Write(" .");
Thread.Sleep(500);
Console.Write(" .");
Thread.Sleep(500);
Console.Write(" .");
}
Console.WriteLine("");
Console.WriteLine("Auto Position Finished");
wsd.keypad.AUTO_POS_SW = false;
break;
case "getstat":
Console.WriteLine("WSD Status: " + wsd.OP_MODE.ToString());
break;
case "getpos":
Console.WriteLine("WSD Position: " + "X-" + wsd.X_POS.ToString() + " Y-" + wsd.Y_POS.ToString() + " Z-" + wsd.Z_POS.ToString() + " Tilt-" + wsd.TILT_POS.ToString() + " Ang-" + wsd.ANG_POS.ToString());
break;
case "move":
if (cmdArray.Length < 3)
{
Console.WriteLine("The command wsd move will move WSD to designated position");
Console.WriteLine("wsd move [-x xpos] [-y ypos] [-z zpos] [-t tiltpos] [-a angpos]");
break;
}
var options = new WSDOption();
var parser = new CommandLine.Parser(with => with.HelpWriter = Console.Out);
if (parser.ParseArgumentsStrict(SplitArray(cmdArray, 2, cmdArray.Length - 1), options, () => Console.WriteLine()))
{
try
{
if (options.Xpos != -8192.00)
{
wsd.XRelBtnPress();
wsd.X_POS = options.Xpos;
wsd.XRelBtnRelease();
}
if (options.ZPos != -8192.00)
{
wsd.ZRelBtnPress();
wsd.Z_POS = options.ZPos;
wsd.ZRelBtnRelease();
}
Thread.Sleep(500);
Console.WriteLine("WSD Move Finished!");
}
catch (Exception ex)
{
Console.WriteLine("WSD Move Error: " + ex.Message);
}
}
break;
default:
Console.WriteLine("unknown WSD command,please make sure the command format is correct!");
break;
}
break;
case "otc":
switch (cmdArray[1])
{
case "powup":
if (busStarted)
{
if ((otcxyz.OP_MODE != ControlOpMode.NoInit) || (otcxyz.AB_OPMODE != ControlOpMode.NoInit))
{
Console.WriteLine("OTC is already started,please stop first");
}
else
{
try
{
otcxyz.PowerUp();
Console.WriteLine("OTC is started successfully");
}
catch (Exception ex)
{
Console.WriteLine("OTC could not start");
Console.WriteLine("OTC ERROR: " + ex.Message);
}
}
}
else
{
Console.WriteLine("Need to start bus before start OTC");
}
break;
case "powoff":
if (otcxyz.OP_MODE != ControlOpMode.NoInit)
{
try
{
otcxyz.PowerOff();
Console.WriteLine("OTC is stopped successfully");
}
catch (Exception ex)
{
Console.WriteLine("OTC could not stop");
Console.WriteLine("OTC ERROR: " + ex.Message);
}
}
else
{
Console.WriteLine("OTC is already stopped,please start firstly");
}
break;
case "getstat":
Console.WriteLine("OTC XYZ Status: " + otcxyz.OP_MODE.ToString());
Console.WriteLine("OTC AB Status: " + otcxyz.AB_OPMODE.ToString());
break;
case "getpos":
Console.WriteLine("OTC Position: " + "X-" + otcxyz.X_POS.ToString() + " Y-" + otcxyz.Y_POS.ToString() + " Z-" + otcxyz.Z_POS.ToString() + " A-" + otcxyz.A_POS.ToString() + " B" + otcxyz.B_POS.ToString());
break;
case "xyzmove":
{
if (cmdArray.Length < 3)
{
Console.WriteLine("The command otc xyzmove will move otc xyz to designated position");
Console.WriteLine("otc xyzmove [-x xpos] [-y ypos] [-z zpos]");
break;
}
var options = new OTCOption();
var parser = new CommandLine.Parser(with => with.HelpWriter = Console.Out);
if (parser.ParseArgumentsStrict(SplitArray(cmdArray, 2, cmdArray.Length - 1), options, () => Console.WriteLine()))
{
try
{
otcxyz.XYZRelBtnPress();
if (options.Xpos != -8192.00)
{
otcxyz.X_POS = options.Xpos;
}
if (options.Ypos != -8192.00)
{
otcxyz.Y_POS = options.Ypos;
}
if (options.ZPos != -8192.00)
{
otcxyz.Z_POS = options.ZPos;
}
otcxyz.XYZRelBtnRelease();
Thread.Sleep(500);
Console.WriteLine("OTC xyzmove Finished!");
}
catch (Exception ex)
{
Console.WriteLine("OTC xyzmove Error: " + ex.Message);
}
}
}
break;
case "abmove":
{
if (cmdArray.Length < 3)
{
Console.WriteLine("The command otc abmove will move otc ab to designated position");
Console.WriteLine("otc abmove [-a apos] [-b bpos]");
break;
}
var options = new OTCOption();
var parser = new CommandLine.Parser(with => with.HelpWriter = Console.Out);
if (parser.ParseArgumentsStrict(SplitArray(cmdArray, 2, cmdArray.Length - 1), options, () => Console.WriteLine()))
{
try
{
if (options.APos != -3276.0)
{
otcxyz.ARelBtnPress();
otcxyz.A_POS = options.APos;
otcxyz.ARelBtnRelease();
}
if (options.BPos != -3276.0)
{
otcxyz.BRelBtnPress();
otcxyz.B_POS = options.BPos;
otcxyz.BRelBtnRelease();
}
Thread.Sleep(500);
Console.WriteLine("OTC AB Move Finished!");
}
catch (Exception ex)
{
Console.WriteLine("OTC AB Move Error: " + ex.Message);
}
}
}
break;
default:
Console.WriteLine("unknown OTC command,please make sure the command format is correct!");
break;
}
break;
case "tbl":
switch (cmdArray[1])
{
case "powup":
if (busStarted)
{
if (tbl.OP_MODE != ControlOpMode.NoInit)
{
Console.WriteLine("TBL is already started,please stop first");
}
else
{
try
{
tbl.PowerUp();
Console.WriteLine("TBL is started successfully");
}
catch (Exception ex)
{
Console.WriteLine("TBL could not start");
Console.WriteLine("TBL ERROR: " + ex.Message);
}
}
}
else
{
Console.WriteLine("Need to start bus before start TBL");
}
break;
case "powoff":
if (tbl.OP_MODE != ControlOpMode.NoInit)
{
try
{
tbl.PowerOff();
Console.WriteLine("TBL is stopped successfully");
}
catch (Exception ex)
{
Console.WriteLine("TBL could not stop");
Console.WriteLine("TBL ERROR: " + ex.Message);
}
}
else
{
Console.WriteLine("TBL is already stopped,please start firstly");
}
break;
case "autocenter":
tbl.AUTOCENTER_SW = true;
Thread.Sleep(500);
Console.Write("Moving.");
while ((wsd.OP_MODE != ControlOpMode.Idle) || (otcxyz.OP_MODE != ControlOpMode.Idle) || (tbl.OP_MODE != ControlOpMode.Idle) || (otcxyz.AB_OPMODE != ControlOpMode.Idle))
{
Console.Write(" .");
Thread.Sleep(500);
Console.Write(" .");
Thread.Sleep(500);
Console.Write(" .");
}
Console.WriteLine("");
Console.WriteLine("Auto Center Finished");
tbl.AUTOCENTER_SW = false;
break;
case "getstat":
Console.WriteLine("TBL Status: " + tbl.OP_MODE.ToString());
break;
case "getpos":
Console.WriteLine("TBL Position: " + "X-" + tbl.X_POS.ToString() + " Y-" + tbl.Y_POS.ToString() + " Z-" + tbl.Z_POS.ToString());
break;
case "move":
if (cmdArray.Length < 3)
{
Console.WriteLine("The command tbl move will move table to designated position");
Console.WriteLine("tbl move [-x xpos] [-y ypos] [-z zpos]");
break;
}
var options = new TBLOption();
var parser = new CommandLine.Parser(with => with.HelpWriter = Console.Out);
if (parser.ParseArgumentsStrict(SplitArray(cmdArray, 2, cmdArray.Length - 1), options, () => Console.WriteLine()))
{
try
{
tbl.FloatBtnDown();
if (options.Xpos != -8192.00)
{
tbl.X_POS = options.Xpos;
}
if (options.Ypos != -8192.00)
{
tbl.Y_POS = options.Ypos;
}
tbl.FloatBtnUp();
if (options.ZPos != -8192.00)
{
if (tbl.Z_POS < options.ZPos)
{
tbl.ZUpBtnDown();
tbl.Z_POS = options.ZPos;
tbl.ZUpBtnUp();
}
else
{
tbl.ZDownBtnDown();
tbl.Z_POS = options.ZPos;
tbl.ZDownBtnUp();
}
}
Thread.Sleep(500);
Console.WriteLine("TBL Move Finished!");
}
catch (Exception ex)
{
Console.WriteLine("TBL Move Error: " + ex.Message);
}
}
break;
default:
Console.WriteLine("unknown TBL command,please make sure the command format is correct!");
break;
}
break;
case "wsdbk":
switch (cmdArray[1])
{
case "eject":
try
{
wsd.EjectDetector();
Console.WriteLine("Detector ejected");
}
catch (Exception ex)
{
Console.WriteLine("Eject Error: " + ex.Message);
}
Thread.Sleep(1000);
break;
case "insert":
try
{
wsd.InsertDetector(Byte.Parse(cmdArray[2]));
Console.WriteLine("Detector " + wsd.DET_ID.ToString() + " is inserted in Wall Bucky successfully");
}
catch (Exception ex)
{
Console.WriteLine("detector inserting failed");
Console.WriteLine("Error: " + ex.Message);
}
break;
case "check":
Console.WriteLine("WSD Detector: " + wsd.DET_ID.ToString());
break;
default:
Console.WriteLine("unknown WSD bucky command,please make sure the command format is correct!");
break;
}
break;
case "tblbk":
switch (cmdArray[1])
{
case "eject":
try
{
tbl.EjectDetector();
Console.WriteLine("Detector ejected");
}
catch (Exception ex)
{
Console.WriteLine("Eject Error: " + ex.Message);
}
Thread.Sleep(1000);
break;
case "insert":
try
{
tbl.InsertDetector(Byte.Parse(cmdArray[2]));
Console.WriteLine("Detector " + tbl.DET_ID.ToString() + " is inserted in Table Bucky successfully");
}
catch (Exception ex)
{
Console.WriteLine("detector inserting failed");
Console.WriteLine("Error: " + ex.Message);
}
break;
case "check":
Console.WriteLine("TBL Detector: " + wsd.DET_ID.ToString());
break;
default:
Console.WriteLine("unknown TBL bucky command,please make sure the command format is correct!");
break;
}
break;
#region System CMD
case "system":
switch (cmdArray[1])
{
case "up":
if (!busStarted)
{
try
{
bus.StartBus();
busStarted = true;
Console.WriteLine("Can bus started successfully!");
}
catch (Exception ex)
{
Console.WriteLine("Can bus could not start!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("Can bus is already running,please run system power up when state is poweroff");
}
if (otcxyz.OP_MODE == ControlOpMode.NoInit)
{
try
{
otcxyz.PowerUp();
Console.WriteLine("OTC started successfully!");
}
catch (Exception ex)
{
Console.WriteLine("OTC could not start!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("OTC is already running");
}
if (wsd.OP_MODE == ControlOpMode.NoInit)
{
try
{
wsd.PowerUp();
Console.WriteLine("WSD started successfully!");
}
catch (Exception ex)
{
Console.WriteLine("WSD could not start!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("WSD is already running");
}
if (tbl.OP_MODE == ControlOpMode.NoInit)
{
try
{
tbl.PowerUp();
Console.WriteLine("TBL started successfully!");
}
catch (Exception ex)
{
Console.WriteLine("TBL could not start!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("TBL is already running");
}
if (!col.POW_ON)
{
try
{
col.PowerUp();
Console.WriteLine("Collimator started successfully!");
}
catch (Exception ex)
{
Console.WriteLine("Collimator could not start!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("Collimator is already running");
}
if (busStarted && col.POW_ON && (otcxyz.OP_MODE == ControlOpMode.NoInit) && (wsd.OP_MODE == ControlOpMode.NoInit) && (otcxyz.AB_OPMODE == ControlOpMode.NoInit) && (tbl.OP_MODE == ControlOpMode.NoInit))
{
Console.WriteLine("Virtual Lab System Started Successfully!");
}
break;
case "off":
if (otcxyz.OP_MODE != ControlOpMode.NoInit)
{
try
{
otcxyz.PowerOff();
Console.WriteLine("OTC stopped successfully!");
}
catch (Exception ex)
{
Console.WriteLine("OTC could not stop!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("OTC is already stopped");
}
if (wsd.OP_MODE != ControlOpMode.NoInit)
{
try
{
wsd.PowerOff();
Console.WriteLine("WSD stopped successfully!");
}
catch (Exception ex)
{
Console.WriteLine("WSD could not stop!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("WSD is already stopped");
}
if (tbl.OP_MODE != ControlOpMode.NoInit)
{
try
{
tbl.PowerOff();
Console.WriteLine("TBL stopped successfully!");
}
catch (Exception ex)
{
Console.WriteLine("TBL could not stop!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("TBL is already stopped");
}
if (col.POW_ON)
{
try
{
col.PowerOff();
Console.WriteLine("Collimator stopped successfully!");
}
catch (Exception ex)
{
Console.WriteLine("Collimator could not stop!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("Collimator is already stopped");
}
if (busStarted)
{
try
{
bus.StopBus();
busStarted = false;
Console.WriteLine("Can bus stopped successfully!");
}
catch (Exception ex)
{
Console.WriteLine("Can bus could not stop!");
Console.WriteLine("Error: " + ex.Message);
break;
}
}
else
{
Console.WriteLine("Can bus is already stopped,please run system power off when system is running");
}
break;
case "getstat":
Console.WriteLine("Can Bus: " + busStarted.ToString());
Console.WriteLine("OTC XYZ: " + otcxyz.OP_MODE.ToString());
Console.WriteLine("OTC AB: " + otcxyz.AB_OPMODE.ToString());
Console.WriteLine("WSD: " + wsd.OP_MODE.ToString());
Console.WriteLine("TBL: " + tbl.OP_MODE.ToString());
Console.WriteLine("COLLIMATOR:" + col.POW_ON.ToString());
break;
default:
Console.WriteLine("unknown SYS command,please make sure the command format is correct!");
break;
}
break;
#endregion
default:
Console.WriteLine("unknown SYS command,please make sure the command format is correct!");
break;
}
}