/// <summary>
/// Create a command for movement. Only the "data" field is sent to the MCU; the rest of the fields
/// exist for internal tracking and estimations within the MCU manager.
/// </summary>
/// <param name="data"></param>
/// <param name="CMDType"></param>
/// <param name="azDir"></param>
/// <param name="elDir"></param>
/// <param name="AZSpeed"></param>
/// <param name="ElSpeed"></param>
public MCUCommand(ushort[] data, MCUCommandType CMDType, RadioTelescopeDirectionEnum azDir, RadioTelescopeDirectionEnum elDir, int AZSpeed, int ElSpeed)
{
CommandType = CMDType;
commandData = data;
AzimuthDirection = azDir;
ElevationDirection = elDir;
AzimuthSpeed = AZSpeed;
ElevationSpeed = ElSpeed;
}
/// <summary>
/// send a clear move to the MCU to stop a jog
/// </summary>
public MovementResult ExecuteRadioTelescopeStopJog(MCUCommandType stopType)
{
MovementResult result = MovementResult.None;
if (RadioTelescope.PLCDriver.CurrentMovementPriority != MovementPriority.Jog)
{
return(result);
}
if (Monitor.TryEnter(MovementLock))
{
if (stopType == MCUCommandType.ControlledStop)
{
if (RadioTelescope.PLCDriver.Cancel_move())
{
result = MovementResult.Success;
}
}
else if (stopType == MCUCommandType.ImmediateStop)
{
if (RadioTelescope.PLCDriver.ImmediateStop())
{
result = MovementResult.Success;
}
}
else
{
throw new ArgumentException("Jogs can only be stopped with a controlled stop or immediate stop.");
}
RadioTelescope.PLCDriver.CurrentMovementPriority = MovementPriority.None;
Monitor.Exit(MovementLock);
}
return(result);
}
/// <summary>
/// create a MCU command and record the current time
/// </summary>
/// <param name="data"></param>
/// <param name="CMDType"></param>
public MCUCommand(ushort[] data, MCUCommandType CMDType)
{
CommandType = CMDType;
commandData = data;
}
