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(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);
}
private int GetEncodedPosition(PolarizerPaddlePositions position, bool signed)
{
int i1, i2, i3;
if (signed)
{
i1 = UnitToPulse(position.Paddle1, -0x200, 0x1FF) & paddleMask;
i2 = (UnitToPulse(position.Paddle2, -0x200, 0x1FF) & paddleMask) << 10;
i3 = (UnitToPulse(position.Paddle3, -0x200, 0x1FF) & paddleMask) << 20;
}
else
{
i1 = UnitToPulse(position.Paddle1, 0, 0x3FF) & paddleMask;
i2 = (UnitToPulse(position.Paddle2, 0, 0x3FF) & paddleMask) << 10;
i3 = (UnitToPulse(position.Paddle3, 0, 0x3FF) & paddleMask) << 20;
}
return((i1 | i2) | i3);
}
private bool WaitForPositions(int msTimeout = MoveTimeout)
{
try
{
List <string> responses = new List <string> {
"GS", "PO"
};
int counter = 10;
while (true)
{
string msg = ELLDevicePort.WaitForResponse(Address, responses, msTimeout);
if (!string.IsNullOrEmpty(msg))
{
bool returnValue;
if (TestStatus(msg, "gp", true, ref counter, out returnValue))
{
return(returnValue);
}
if (msg.Substring(1, 2) == "PO")
{
if (msg.Length != 11)
{
return(false);
}
PolarizerPaddlePositions polarizerPaddlePositions = GetPositions(msg.Substring(3).ToBytes(8).ToInt(true));
UpdateParameter(MessageUpdater.UpdateTypes.PolarizerPositions, Address, polarizerPaddlePositions);
return(true);
}
}
}
}
catch (ELLException ex)
{
UpdateOutput($"Get Device Status: {ex.Message}", true);
}
return(false);
}
