/// <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> Move the current stage by a relative distance. </summary>
/// <param name="addresses"> The addresses of the stages to be moved. </param>
/// <param name="step"> The relative step distance. </param>
/// <returns> True if the stage was moved 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 MoveRelative(List <char> addresses, decimal step)
{
if (IsDeviceBusy())
{
return(false);
}
if (!addresses.Any())
{
return(MoveRelative(step));
}
SetToGroupAddress(addresses);
UpdateOutput(string.Format("Move device by {0}...", DeviceInfo.FormatPosition(step, true, true)));
int pulses = DeviceInfo.UnitToPulse(step);
if (pulses == 0)
{
return(true);
}
ELLDevicePort.SendStringI32(Address, "mr", pulses);
if (!WaitForPositions(addresses))
{
return(false);
}
return(true);
}
/// <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> Sets the new device address. </summary>
/// <param name="newAddress"> The new device address. </param>
/// <returns> True if the device address is changed. </returns>
public bool SetAddress(char newAddress)
{
if (newAddress == Address)
{
return(true);
}
UpdateOutput(string.Format("changing address to {0}...", newAddress));
ELLDevicePort.SendStringB(Address, "ca", (byte)newAddress);
Address = newAddress;
return(WaitForStatus());
}
/// <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> Sets the home offset for the current stage. </summary>
/// <param name="offset"> The stage offset. </param>
/// <returns> True if the Offset were set. </returns>
/// <seealso cref="HomeOffset"/>
/// <seealso cref="GetHomeOffset()"/>
public bool SetHomeOffset(decimal offset)
{
UpdateOutput(string.Format("Set Home Offset to {0}...", DeviceInfo.FormatPosition(offset, true, true)));
int pulses = DeviceInfo.UnitToPulse(offset);
ELLDevicePort.SendStringI32(Address, "so", pulses);
if (!WaitForHomeOffset("gs", false))
{
return(false);
}
_homeOffset = offset;
return(true);
}
/// <summary> Sets the current device jogstep size. </summary>
/// <param name="jogstepSize"> The size of the jogstep. </param>
/// <returns> True if the jog step were set succesfully. </returns>
public bool SetJogstepSize(decimal jogstepSize)
{
UpdateOutput(string.Format("Set Jog Step to {0}...", DeviceInfo.FormatPosition(jogstepSize)));
int pulses = DeviceInfo.UnitToPulse(jogstepSize);
ELLDevicePort.SendStringI32(Address, "sj", pulses);
if (!WaitForJogstepSize("gs", false))
{
return(false);
}
_jogstepSize = jogstepSize;
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 SendCleanAndOptimize()
{
if (IsDeviceBusy())
{
return(false);
}
SetCleaningState(true);;
UpdateOutput("Performing clean & optimize...");
ELLDevicePort.SendString(Address, "om");
bool retval = WaitForCleaning();
SetCleaningState(false);;
return(retval);
}
/// <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 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);
}
public bool MoveAbsolute(PaddlePosition position)
{
try
{
short pulses = (short)(UnitToPulse(position.Position, 0, 0x3FF));
UpdateOutput(string.Format("Move paddle {0} to {1}...", (char)position.PaddleId, position.PaddleId));
ELLDevicePort.SendStringI16(Address, $"a{(char)position.PaddleId}", pulses);
return(WaitForPosition(position.PaddleId));
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0}...", position.Position));
}
return(false);
}
public bool MoveAbsolute(PolarizerPaddlePositions positions)
{
try
{
int encodedPosition = GetEncodedPosition(positions, false);
UpdateOutput(string.Format("Move paddles to {0},{1},{2}...", positions.Paddle1, positions.Paddle2, positions.Paddle3));
ELLDevicePort.SendStringI32(Address, "ma", encodedPosition);
return(WaitForPositions());
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0},{1},{2}...", positions.Paddle1, positions.Paddle2, positions.Paddle3));
}
return(false);
}
public bool MoveRelative(PaddlePosition displacement)
{
try
{
short pulses = (short)(UnitToPulse(displacement.Position, -0x3FF, 0x3FF));
UpdateOutput(string.Format("Move paddle {0} by {1}...", (char)displacement.PaddleId, displacement.PaddleId));
ELLDevicePort.SendStringI16(Address, $"r{(char)displacement.PaddleId}", pulses);
return(WaitForPosition(displacement.PaddleId));
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0}...", displacement.Position));
}
return(false);
}
/// <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);
}
public bool MoveRelative(PolarizerPaddlePositions displacements)
{
try
{
int encodedPosition = GetEncodedPosition(displacements, true);
UpdateOutput(string.Format("Move paddles by {0},{1},{2}...", displacements.Paddle1, displacements.Paddle2, displacements.Paddle3));
ELLDevicePort.SendStringI32(Address, "mr", encodedPosition);
return(WaitForPositions());
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0},{1},{2}...", displacements.Paddle1, displacements.Paddle2, displacements.Paddle3));
}
return(false);
}
/// <summary> Move the current stage to an absolute position. </summary>
/// <param name="position"> The required position. </param>
/// <returns> True if the stage was moved succesfully. </returns>
/// <seealso cref="Position"/>
/// <seealso cref="GetPosition()"/>
/// <seealso cref="MoveRelative(decimal)"/>
/// <seealso cref="MoveAbsolute(List<char>, decimal)"/>
/// <seealso cref="MoveRelative(List<char>, decimal)"/>
public bool MoveAbsolute(decimal position)
{
if (IsDeviceBusy())
{
return(false);
}
UpdateOutput(string.Format("Move device to {0}...", DeviceInfo.FormatPosition(position, true, true)));
int pulses = DeviceInfo.UnitToPulse(position);
ELLDevicePort.SendStringI32(Address, "ma", pulses);
if (!WaitForPosition())
{
return(false);
}
return(true);
}
/// <summary> Sets the group address for the given devices. </summary>
/// <param name="addresses"> The addresses of devices to join the group. </param>
/// <returns> True if the function completed succesfully. </returns>
public bool SetToGroupAddress(IEnumerable <char> addresses)
{
foreach (char address in addresses)
{
if (address != Address)
{
UpdateOutput(string.Format("Set GroupAddress {0}->{1}...", address, Address));
ELLDevicePort.SendStringB(address, "ga", (byte)Address);
if (!WaitForStatus(Address))
{
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);
}
private bool WaitForPositions(List <char> addresses, int msTimeout = MoveTimeout)
{
try
{
Dictionary <char, bool> _isCompletedList = addresses.ToDictionary(c => c, c => false);
List <string> responses = new List <string> {
"GS", "PO"
};
int counter = 10 * addresses.Count;
while (true)
{
string msg = ELLDevicePort.WaitForResponse(addresses, responses, msTimeout);
if (!string.IsNullOrEmpty(msg))
{
bool returnValue;
if (TestStatus(msg, "gp", true, ref counter, out returnValue))
{
return(returnValue);
}
char address = msg[0];
if ((msg.Substring(1, 2) == "PO") && addresses.Contains(address))
{
if (msg.Length != 11)
{
return(false);
}
_position = DeviceInfo.PulseToUnit(msg.Substring(3).ToBytes(8).ToInt(true));
UpdateParameter(MessageUpdater.UpdateTypes.Position, address, _position);
_isCompletedList[address] = true;
if (_isCompletedList.All(item => item.Value))
{
return(true);
}
}
}
}
}
catch (ELLException ex)
{
UpdateOutput($"Get Device Status: {ex.Message}", true);
}
return(false);
}
/// <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> Move the given stages to an absolute position. </summary>
/// <param name="addresses"> The addresses of the devices to be moved. </param>
/// <param name="position"> The required position. </param>
/// <returns> True if the stages were moved 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 MoveAbsolute(List <char> addresses, decimal position)
{
if (IsDeviceBusy())
{
return(false);
}
if (!addresses.Any())
{
return(MoveAbsolute(position));
}
SetToGroupAddress(addresses);
UpdateOutput(string.Format("Move device to {0}...", DeviceInfo.FormatPosition(position, true, true)));
int pulses = DeviceInfo.UnitToPulse(position);
ELLDevicePort.SendStringI32(Address, "ma", pulses);
if (!WaitForPositions(addresses))
{
return(false);
}
return(true);
}
private bool WaitForPosition(PaddleIDs paddleID, int msTimeout = MoveTimeout)
{
try
{
string command = $"p{(char)paddleID}";
string response = $"P{(char)paddleID}";
List <string> responses = new List <string> {
"GS", response
};
int counter = 10;
while (true)
{
string msg = ELLDevicePort.WaitForResponse(Address, responses, msTimeout);
if (!string.IsNullOrEmpty(msg))
{
bool returnValue;
if (TestStatus(msg, command, true, ref counter, out returnValue))
{
return(returnValue);
}
if (msg.Substring(1, 2) == response)
{
if (msg.Length != 7)
{
return(false);
}
PaddlePosition position = GetPosition(msg.Substring(3).ToBytes(4).ToInt(true), paddleID);
UpdateParameter(MessageUpdater.UpdateTypes.PaddlePosition, Address, position);
return(true);
}
}
}
}
catch (ELLException ex)
{
UpdateOutput($"Get Device Status: {ex.Message}", true);
}
return(false);
}
/// <summary> Move microsecond steps. </summary>
/// <param name="paddleID"> Identifier for the paddle. </param>
/// <param name="timeMS"> The time in milliseconds. </param>
/// <param name="backward"> True to backward. </param>
/// <returns> True if it succeeds, false if it fails. </returns>
public bool MoveMicrosecondSteps(PaddleIDs paddleID, short timeMS, bool backward)
{
try
{
if (timeMS < 0 || timeMS > 8000)
{
throw new ArgumentOutOfRangeException($"Range 0 to 8000");
}
if (backward)
{
timeMS = (short)((timeMS & 0x1FFF) | 0x8000);
}
UpdateOutput(string.Format("Move paddle {0} for {1} ms...", (char)paddleID, timeMS));
ELLDevicePort.SendStringI16(Address, $"t{(char)paddleID}", timeMS);
return(WaitForPosition(paddleID));
}
catch (OverflowException)
{
UpdateOutput(string.Format("Parameter out of range {0}...", timeMS));
}
return(false);
}
public bool ResetPeriod()
{
List <char> _motors = _motorInfo.Where(kvp => (kvp.Value != null) && (kvp.Value.IsValid)).Select(kvp => kvp.Key).ToList();
foreach (char motorID in _motors)
{
UpdateOutput(string.Format("Motor{0} - Reset default period ...", motorID));
UInt16 period = (Int16)(14740 / 100) | 0x8000;
ELLDevicePort.SendStringI16(Address, "f" + motorID, period);
if (!WaitForStatus(SearchTimeout))
{
return(false);
}
ELLDevicePort.SendStringI16(Address, "b" + motorID, period);
if (!WaitForStatus(SearchTimeout))
{
return(false);
}
GetMotorInfo(motorID);
}
SaveUserData();
return(true);
}
