public void Connected(string deviceId, PositionControllerResponse status)
{
Id = deviceId;
if (deviceId != null && this.positionController.IsOkStatus(status.Status))
{
maxPosition = 0;
IsConnected = true;
PacketsTotalNumber = 0;
PacketsFailuresNumber = 0;
PacketsCrcFailuresNumber = 0;
ConnectDisconnectTitle = TITLE_DISCONNECT;
}
else
{
maxPosition = 0;
IsConnected = false;
ConnectDisconnectTitle = TITLE_CONNECT;
}
SetStatus("Connection attempt", PositionControllerCommand.NONE, status);
DisconnectCommand.UpdateCanExecute();
EmergencyStopCommand.UpdateCanExecute();
ResetPositionControllerCommand.UpdateCanExecute();
CalibratePositionControllerCommand.UpdateCanExecute();
}
private void UpdateUi(IPositionControllerDeviceModel parameter, PositionControllerResponse result)
{
CoreDispatcher dispatcher = parameter.Dispatcher;
if (dispatcher == null)
{
return;
}
var ignore = dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
parameter.SetStatus(PositionControllerCommand.CALIBRATE, result);
});
}
/// <param name="parameter">method on model can only be called from UI thread</param>
private async Task <PositionControllerResponse> ExecuteAsync(IPositionControllerDeviceModel parameter)
{
PositionControllerResponse result = await this.positionController.Calibrate()
.ConfigureAwait(false);
if (!positionController.IsOkStatus(result.Status))
{
return(result);
}
DateTime start = DateTime.UtcNow;
while (DateTime.UtcNow - start < MAX_CALIBRATION_TIME)
{
result = await this.positionController.GetPosition()
.ConfigureAwait(false);
if (!positionController.IsOkStatus(result.Status) ||
(result.Status & PositionControllerStatus.PC_OK_MASK) == PositionControllerStatus.PC_OK_EMERGENCY_STOP)
{
return(result);
}
if ((result.Status & PositionControllerStatus.PC_OK_MASK) == PositionControllerStatus.PC_OK_IDLE)
{
// idle means position controller finished calibration
return(result);
}
else
{
UpdateUi(parameter, result);
}
await Task.Delay(1000)
.ConfigureAwait(false);
}
return(new PositionControllerResponse(PositionControllerStatus.CS_ERR_DEVICE_NOT_CONNTECTED));
}
private void SetStatus(string message, PositionControllerCommand fromCommand, PositionControllerResponse status)
{
if (status != null &&
status.Status == PositionControllerStatus.PC_OK_IDLE && /* no errors should be present for calibration to be considered successful */
fromCommand == PositionControllerCommand.CALIBRATE)
{
this.maxPosition = status.Position;
}
if (status == null)
{
Position = double.NaN;
StatusDisplayName = STATUS_DISPLAY_NAME_NOT_AVAILABLE;
}
else
{
Position = ((double)status.Position) * PositionController.DISTANCE_PER_TICK_MM;
StatusDisplayName = StatusToDisplayName(status.Status);
IsEmergencyStopped = (status.Status & PositionControllerStatus.PC_OK_EMERGENCY_STOP) == PositionControllerStatus.PC_OK_EMERGENCY_STOP;
++PacketsTotalNumber;
if ((status.Status & ~PositionControllerStatus.PC_OK_MASK) != 0)
{
++PacketsFailuresNumber;
}
if ((status.Status & PositionControllerStatus.PC_ERR_CRC) != 0 ||
(status.Status & PositionControllerStatus.CS_ERR_CRC) != 0)
{
++PacketsCrcFailuresNumber;
}
if (!this.positionController.IsOkStatus(status.Status))
{
this.mainModel.LogEntries.Add(new PositionControllerErrorStatusLogEntry(message, fromCommand, status.Status));
}
}
}
public void SetStatus(PositionControllerCommand fromCommand, PositionControllerResponse status)
{
SetStatus(null, fromCommand, status);
}
