/// <summary> Process the device status. </summary>
/// <param name="deviceStatus"> The device status. </param>
/// <param name="resendCmd"> The resend command. </param>
/// <param name="getter"> True to getter. </param>
/// <returns> A StatusResult. </returns>
protected override StatusResult ProcessDeviceStatus(DeviceStatus deviceStatus, string resendCmd, bool getter)
{
switch (deviceStatus.Status)
{
case DeviceStatus.DeviceStatusValues.Busy:
UpdateDeviceStatus(deviceStatus);
if (getter)
{
ELLDevicePort.SendString(Address, resendCmd);
}
return(StatusResult.Busy);
case DeviceStatus.DeviceStatusValues.OK:
//_isThermalLocked = false;
UpdateDeviceStatus(deviceStatus);
if (getter)
{
ELLDevicePort.SendString(Address, resendCmd);
}
return(StatusResult.OK);
case DeviceStatus.DeviceStatusValues.ModuleIsolated:
UpdateDeviceStatus(deviceStatus);
return(StatusResult.Fail);
default:
UpdateDeviceStatus(deviceStatus);
Thread.Sleep(500);
ELLDevicePort.SendString(Address, resendCmd);
break;
}
return(StatusResult.Error);
}
/// <summary> Get the device MotorInfo structure. </summary>
/// <returns> Success if the motor info retrieved succesfully. </returns>
public bool GetMotorInfo(char motorID)
{
if (!IsMotorIdValid(motorID))
{
return(false);
}
UpdateOutput(string.Format("Requesting Motor{0} info...", motorID));
ELLDevicePort.SendString(Address, "i" + motorID);
try
{
string msg = ELLDevicePort.WaitForResponse(Address, "I" + motorID, MoveTimeout);
if (!string.IsNullOrEmpty(msg))
{
MotorInfo info = new MotorInfo(msg);
_motorInfo[motorID] = info;
UpdateOutput("Get Device Status: ", info.Description());
UpdateParameter(MessageUpdater.UpdateTypes.MotorInfo, Address, info);
return(true);
}
}
catch (ELLException)
{
UpdateOutput(string.Format("Requesting Motor{0}: FAILED", motorID));
}
return(false);
}
/// <summary> Scans the addresses. </summary>
/// <param name="minDeviceAddress"> The minimum device address. </param>
/// <param name="maxDeviceAddress"> The maximum device address. </param>
/// <returns> Returns a list of available device addresses. </returns>
public List <string> ScanAddresses(char minDeviceAddress, char maxDeviceAddress)
{
List <string> connections = new List <string>();
if (!ELLDevicePort.IsConnected)
{
return(connections);
}
_messageUpdater.UpdateOutput("Scanning for devices");
foreach (char address in ELLBaseDevice.ValidAddresses.Where(item => item >= minDeviceAddress && item <= maxDeviceAddress))
{
ELLDevicePort.SendString(address, "in");
try
{
string msg = ELLDevicePort.WaitForResponse(address, "IN", ELLBaseDevice.StatusTimeout);
if (!string.IsNullOrEmpty(msg))
{
connections.Add(msg);
}
}
catch (ELLException e)
{
Debug.WriteLine(e.Message);
// device address not used
}
}
_messageUpdater.UpdateOutput(connections.Count < 2
? string.Format("{0} device found", connections.Count)
: string.Format("{0} devices found", connections.Count));
return(connections);
}
private void StartJogging(string command, string message)
{
_isJogging = true;
UpdateOutput(message);
ELLDevicePort.SendString(Address, command);
if (_jogTimer == null)
{
_jogTimer = new Timer(JogTimeUpdate, 0, 100, 0);
}
}
/// <summary> Starts a forward jog and returns after position value is returned. </summary>
/// <returns> True if the device was jogged succesfully. </returns>
public bool JogStop()
{
if (!_isJogging)
{
return(false);
}
JogStopInternal();
//Debug.WriteLine($"Stop Set false {_isJogging}");
UpdateOutput("Jog Stop");
ELLDevicePort.SendString(Address, "ms");
return(GetPosition());
}
/// <summary> Saves the user data. </summary>
/// <returns> True if the UserData is saved by the device. </returns>
public bool SendStopCleaning()
{
if (!_isCleaning)
{
return(false);
}
UpdateOutput("Stop cleaning...");
ELLDevicePort.SendString(Address, "st");
SetSleepDelayCounter(2);
ELLDevicePort.SendString(Address, "gs");
return(true);
}
/// <summary> Jog the current device backward. </summary>
/// <returns> True if the device was jogged succesfully. </returns>
/// <seealso cref="JogBackward()"/>
/// <seealso cref="SetJogstepSize(decimal)"/>
/// <seealso cref="GetJogstepSize()"/>
/// <seealso cref="JogForward(List<char>)"/>
/// <seealso cref="JogBackward(List<char>)"/>
public bool JogBackward()
{
if (IsDeviceBusy())
{
return(false);
}
UpdateOutput(string.Format("Jog Backward {0}", DeviceInfo.FormatPosition(_jogstepSize, true, true)));
ELLDevicePort.SendString(Address, "bw");
if (!WaitForPosition())
{
return(false);
}
return(true);
}
/// <summary> Saves the user data. </summary>
/// <returns> True if the UserData is saved by the device. </returns>
public bool SendCleanMachine()
{
if (IsDeviceBusy())
{
return(false);
}
SetCleaningState(true);
UpdateOutput("Performing clean mechanics...");
ELLDevicePort.SendString(Address, "cm");
bool retval = WaitForCleaning();
SetCleaningState(false);;
return(retval);
}
/// <summary> Homes the given paddles. </summary>
/// <param name="paddles"> (Optional) The paddles. </param>
/// <returns> True if it succeeds, false if it fails. </returns>
public bool Home(PaddleHomeMask paddles = PaddleHomeMask.All)
{
if (paddles == PaddleHomeMask.None)
{
return(false);
}
UpdateOutput("Homing paddles ...");
ELLDevicePort.SendString(Address, "ho" + (char)('0' + paddles));
if (!WaitForPositions())
{
return(false);
}
return(true);
}
/// <summary> Homes the current stage. </summary>
/// <param name="direction"> The home direction. </param>
/// <returns> True if the device was homed succesfully. </returns>
/// <seealso cref="Home(List<char>, ELLDevice.DeviceDirection)"/>
public bool Home(DeviceDirection direction = DeviceDirection.Linear)
{
if (IsDeviceBusy())
{
return(false);
}
UpdateOutput("Homing device ...");
ELLDevicePort.SendString(Address, "ho" + (char)direction);
if (!WaitForPosition())
{
return(false);
}
return(true);
}
/// <summary> Saves the user data. </summary>
/// <returns> True if the UserData is saved by the device. </returns>
public bool SendCleanAndOptimize()
{
if (IsDeviceBusy())
{
return(false);
}
SetCleaningState(true);;
UpdateOutput("Performing clean & optimize...");
ELLDevicePort.SendString(Address, "om");
bool retval = WaitForCleaning();
SetCleaningState(false);;
return(retval);
}
/// <summary> Scan current Curve. </summary>
/// <param name="motorID"> Identifier for the motor. </param>
/// <returns> True if the function was performed succesfully. </returns>
public bool ScanCurrentCurve(char motorID)
{
if (!IsMotorIdValid(motorID))
{
return(false);
}
UpdateOutput(string.Format("Motor{0} - Scan Current ...", motorID));
ELLDevicePort.SendString(Address, "c" + motorID);
if (!WaitForStatus(6000))
{
return(false);
}
GetMotorInfo(motorID);
return(true);
}
/// <summary> Jog the given stages forward. </summary>
/// <param name="addresses"> The addresses of the devices to be jogged. </param>
/// <returns> True if the device was jogged succesfully. </returns>
/// <seealso cref="Home(List<char>, ELLBaseDevice.DeviceDirection)"/>
/// <seealso cref="MoveAbsolute(List<char>, decimal)"/>
/// <seealso cref="MoveRelative(List<char>, decimal)"/>
/// <seealso cref="JogForward(List<char>)"/>
/// <seealso cref="JogBackward(List<char>)"/>
public bool JogForward(List <char> addresses)
{
if (!addresses.Any())
{
return(JogForward());
}
SetToGroupAddress(addresses);
UpdateOutput(string.Format("Jog Forward {0}", DeviceInfo.FormatPosition(_jogstepSize, true, true)));
ELLDevicePort.SendString(Address, "fw");
if (!WaitForPositions(addresses))
{
return(false);
}
return(true);
}
/// <summary> Search for the device period. </summary>
/// <param name="motorID"> Identifier for the motor. </param>
/// <param name="permanent"> True to change the period permanently. </param>
/// <returns> True if the period is set. </returns>
public bool SearchPeriod(char motorID, bool permanent)
{
if (!IsMotorIdValid(motorID))
{
return(false);
}
UpdateOutput(string.Format("Motor{0} - Search period ...", motorID));
ELLDevicePort.SendString(Address, "s" + motorID);
if (!WaitForStatus(SearchTimeout))
{
return(false);
}
GetMotorInfo(motorID);
if (permanent)
{
SaveUserData();
}
return(true);
}
/// <summary> Homes the given stages. </summary>
/// <param name="addresses"> The list of addresses of devices to be homed. </param>
/// <param name="direction"> The home direction. </param>
/// <returns> Success. </returns>
/// <seealso cref="Home(ELLBaseDevice.DeviceDirection)"/>
/// <seealso cref="MoveAbsolute(List<char>, decimal)"/>
/// <seealso cref="MoveRelative(List<char>, decimal)"/>
/// <seealso cref="JogForward(List<char>)"/>
/// <seealso cref="JogBackward(List<char>)"/>
public bool Home(List <char> addresses, DeviceDirection direction = DeviceDirection.Linear)
{
if (IsDeviceBusy())
{
return(false);
}
if (!addresses.Any())
{
return(Home(direction));
}
SetToGroupAddress(addresses);
UpdateOutput("Homing device ...");
ELLDevicePort.SendString(Address, "ho" + (int)direction);
if (!WaitForPositions(addresses))
{
return(false);
}
return(true);
}
/// <summary> Wait for status. </summary>
/// <param name="msTimeout"> (Optional) The milliseconds timeout. </param>
/// <returns> True if it succeeds, false if it fails. </returns>
protected bool WaitForCleaning(int msTimeout = CleanTimeout)
{
try
{
int counter = 60;
while (true)
{
string msg = ELLDevicePort.WaitForResponse(Address, "GS", msTimeout);
if (!String.IsNullOrEmpty(msg))
{
if (msg.Substring(1, 4) == "GS09")
{
SetSleepDelayCounter(10);
while (GetSleepDelayCounter() >= 0)
{
SetSleepDelayCounter(GetSleepDelayCounter() - 1);
Thread.Sleep(1000);
}
ELLDevicePort.SendString(Address, "gs");
}
else
{
bool returnValue;
if (TestStatus(msg, "gs", false, ref counter, out returnValue))
{
return(returnValue);
}
}
}
}
}
catch (ELLException ex)
{
_messageUpdater?.UpdateOutput($"Get Device Status: {ex.Message}", true);
}
return(false);
}
public bool RequestPosition(PaddleIDs paddleID)
{
UpdateOutput($"Get Position {(char)paddleID}...");
ELLDevicePort.SendString(Address, $"p{(char)paddleID}");
return(WaitForPosition(paddleID));
}
public bool RequestPositions()
{
UpdateOutput("Get Positions...");
ELLDevicePort.SendString(Address, "gp");
return(WaitForPositions());
}
/// <summary> Gets the current device jogstep size. </summary>
/// <remarks> Use <see cref="JogstepSize"/> to obtain the current jog step size</remarks>
/// <returns> True if the jogstep was retrieved succesfully. </returns>
public bool GetJogstepSize()
{
UpdateOutput("Get Jogstep Size...");
ELLDevicePort.SendString(Address, "gj");
return(WaitForJogstepSize("gj", true));
}
/// <summary> Gets the current device home offset. </summary>
/// <remarks> Use <see cref="HomeOffset"/> to obtain the current home offset</remarks>
/// <returns> True if the home offset was retrieved succesfully. </returns>
/// <seealso cref="HomeOffset"/>
/// <seealso cref="SetHomeOffset(decimal)"/>
public bool GetHomeOffset()
{
UpdateOutput("Get Home Offset...");
ELLDevicePort.SendString(Address, "go");
return(WaitForHomeOffset("go", true));
}
/// <summary> Saves the user data. </summary>
/// <returns> True if the UserData is saved by the device. </returns>
public bool SaveUserData()
{
UpdateOutput("Save user status...");
ELLDevicePort.SendString(Address, "us");
return(WaitForStatus());
}
/// <summary> Obtains the device status from the device. </summary>
/// <remarks> Use <see cref="DeviceStatus"/> to obtain the current status</remarks>
/// <returns> True if the status is retrieved from the device. </returns>
/// <seealso cref="DeviceStatus"/>
public bool GetDeviceStatus()
{
UpdateOutput("Get Device Status...");
ELLDevicePort.SendString(Address, "gs");
return(WaitForStatus());
}
