public IrixiMotionController(string DeviceSN = "")
{
// Generate the instance of the state report object
HidReport = new DeviceStateReport();
FirmwareInfo = new FimwareInfo();
PCA9534Info = new PCA9534Info();
TotalAxes = -1;
SerialNumber = DeviceSN;
AxisCollection = new ObservableCollection <Axis>();
//BindingOperations.EnableCollectionSynchronization(AxisCollection, _lock);
hidPort = new HIDUSBDevice(VID, PID, DeviceSN);
}
public object Clone()
{
DeviceStateReport state = new DeviceStateReport();
state.Counter = this.Counter;
state.TotalAxes = this.TotalAxes;
state.IsBusy = this.IsBusy;
state.SystemError = this.SystemError;
state.TriggerInput0 = this.TriggerInput0;
state.TriggerInput1 = this.TriggerInput1;
state.CoreVref = this.CoreVref;
state.CoreTemp = this.CoreTemp;
state.AxisStateCollection = new ObservableCollection <AxisStateReport>();
for (int i = 0; i < this.AxisStateCollection.Count; i++)
{
state.AxisStateCollection.Add(this.AxisStateCollection[i].Clone() as AxisStateReport);
}
return(state);
}
/// <summary>
/// rasie this event when a data pack containing up-to-date hid report is received
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnReportReceived(object sender, byte[] e)
{
// the first byte is report id
int _report_id = (int)e[0];
// report of device state
if (_report_id == REPORT_ID_DEVICESTATE)
{
// copy the previous report before parsing the new report raw data
DeviceStateReport _previous_report = this.Report.Clone() as DeviceStateReport;
// parse the report from the up-to-date raw data
this.Report.ParseRawData(e);
// raise the event
OnReportUpdated?.Invoke(this, this.Report);
// if the state of input changes, raise the event
for (int i = 0; i < this.Report.AxisStateCollection.Count; i++)
{
if (this.Report.AxisStateCollection[i].IN_A != _previous_report.AxisStateCollection[i].IN_A)
{
OnInputIOStatusChanged?.Invoke(this, new InputEventArgs(i * 2, this.Report.AxisStateCollection[i].IN_A));
}
if (this.Report.AxisStateCollection[i].IN_B != _previous_report.AxisStateCollection[i].IN_B)
{
OnInputIOStatusChanged?.Invoke(this, new InputEventArgs(i * 2 + 1, this.Report.AxisStateCollection[i].IN_B));
}
}
}
// report of firmware information
else if (_report_id == REPORT_ID_FACTINFO)
{
buf_report_factinfo.AddRange(e);
}
}