public override bool Init()
{
if (this.IsEnabled) // the controller is configured to be disabled in the config file
{
if (this.Controller.IsInitialized)
{
var status = Controller.ReadDOUT();
FiberClampState = status.Integrated[FiberClampOutputPort];
LensVacuumState = status.Integrated[LensVacuumOutputPort];
PlcVacuumState = status.Integrated[PLCVacuumOutputPort];
PodVacuumState = status.Integrated[PODVacuumOutputPort];
this.IsInitialized = true;
return(true);
}
else
{
this.LastError = "the attached motion controller is not initialized.";
return(false);
}
}
else
{
this.LastError = "it is disabled in the config file.";
return(false);
}
}
/// <summary>
/// Set the status of the specified digital output port.
/// </summary>
/// <param name="channel">DOUT1 to DOUT8</param>
/// <param name="status">OFF:0; ON:1</param>
public void SetDout(DigitalOutput channel, DigitalIOStatus status)
{
lock (_lockController)
{
Send(new CommandSetDOUT(channel, status));
}
}
/// <summary>
/// Set the status of the specified digital output port.
/// </summary>
/// <param name="Channel">DOUT1 to DOUT8</param>
/// <param name="Status">OFF:0; ON:1</param>
public void SetDOUT(DigitalOutput Channel, DigitalIOStatus Status)
{
lock (lockController)
{
Send(new CommandSetDOUT(Channel, Status));
}
}
public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
{
DigitalIOStatus v = (DigitalIOStatus)value;
if (v == DigitalIOStatus.OFF)
{
return(false);
}
else
{
return(true);
}
}
public DigitalInputStatus(byte[] Data)
{
Integrated = new DigitalIOStatus[8];
BitArray bits = new BitArray(Data);
DIN1 = bits.Get(0) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN2 = bits.Get(1) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN3 = bits.Get(2) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN4 = bits.Get(3) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN5 = bits.Get(4) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN6 = bits.Get(5) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN7 = bits.Get(6) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DIN8 = bits.Get(7) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
Integrated[0] = DIN1;
Integrated[1] = DIN2;
Integrated[2] = DIN3;
Integrated[3] = DIN4;
Integrated[4] = DIN5;
Integrated[5] = DIN6;
Integrated[6] = DIN7;
Integrated[7] = DIN8;
}
public DigitalOutputStatus(byte[] Data)
{
Integrated = new DigitalIOStatus[8];
BitArray bits = new BitArray(Data);
DOUT1 = bits.Get(0) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT2 = bits.Get(1) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT3 = bits.Get(2) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT4 = bits.Get(3) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT5 = bits.Get(4) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT6 = bits.Get(5) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT7 = bits.Get(6) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
DOUT8 = bits.Get(7) == false ? DigitalIOStatus.OFF : DigitalIOStatus.ON;
Integrated[0] = DOUT1;
Integrated[1] = DOUT2;
Integrated[2] = DOUT3;
Integrated[3] = DOUT4;
Integrated[4] = DOUT5;
Integrated[5] = DOUT6;
Integrated[6] = DOUT7;
Integrated[7] = DOUT8;
}
public void SetPlcVacuumState(DigitalIOStatus State)
{
this.Controller.SetDOUT(this.PLCVacuumOutputPort, State);
PlcVacuumState = Controller.ReadDOUT(PLCVacuumOutputPort);
}
public void SetLensVacuumState(DigitalIOStatus State)
{
this.Controller.SetDOUT(this.LensVacuumOutputPort, State);
LensVacuumState = Controller.ReadDOUT(LensVacuumOutputPort);
}
public void SetFiberClampState(DigitalIOStatus State)
{
this.Controller.SetDOUT(this.FiberClampOutputPort, State);
FiberClampState = Controller.ReadDOUT(FiberClampOutputPort);
}
public CommandSetDOUT(DigitalOutput Channel, DigitalIOStatus Status)
{
this.Channel = Channel;
this.Status = Status;
}
public void SetDOUT(int Channel, DigitalIOStatus Status)
{
_m12.SetDOUT((DigitalOutput)(((DigitalOutput)DigitalOutput.DOUT1) + Channel), Status);
}
