public static ILaser CreateLaserController(LaserConfig laserPara, TcpClientStream tcpClient)
{
ILaser laser = null;
string typeStr = laserPara.LaserType.ToString();
switch (typeStr)
{
case "Raycus":
if (laserPara.ControlType == LaserControlTypes.Extern)
{
laser = new LaserController(tcpClient, laserPara.MaxVoltage);
}
else
{
var serialPortStream = new SerialPortStream(laserPara.PortName, 9600);
laser = new RaycusLaserController(serialPortStream);
}
break;
case "Other":
laser = new LaserController(tcpClient, laserPara.MaxVoltage);
break;
default:
throw new Exception("LaserFactory: not support!");
}
return(laser);
}
private static void InitHardware()
{
//TODO: Ethernet not found, set dummy mode
string ip = SystemContext.SystemPara.IpAddress;
int port = SystemContext.SystemPara.Port;
var device = TcpClientStream.SearchDevice(ip, port);
if (device == null)
{
SystemContext.IsDummyMode = true;
var motor = new DummyMotorController();
var laser = new DummyLaser();
var blowing = new DummyIO();
SystemContext.Hardware = new HardwareProxy(motor, laser, blowing);
}
else
{
SystemContext.IsDummyMode = false;
var para = SystemContext.SystemPara;
Func <AxisParameter, MotorParameter> convert = x => new MotorParameter
{
Ratio = x.Ratio,
IsReversed = x.Reversed
};
var motorPara = new Dictionary <AxisTypes, MotorParameter>();
motorPara[AxisTypes.AxisX] = convert(para.XPara);
motorPara[AxisTypes.AxisY] = convert(para.YPara); motorPara[AxisTypes.AxisY].IsDualDriven = true;
motorPara[AxisTypes.AxisZ] = convert(para.ZPara);
motorPara[AxisTypes.AxisW] = new MotorParameter();
var motor = new MotorController(device, motorPara);
var laser = new LaserController(device, 10);
var blowing = new IOController(device);
SystemContext.Hardware = new HardwareProxy(motor, laser, blowing);
}
}
public LaserController(TcpClientStream tcpClient, double maxVoltage)
{
this.tcpClient = tcpClient;
this.maxVoltage = maxVoltage;
//Initialize hardware
//this.SetVoltage(1);
//this.SetVoltage(2);
}
public MotorController(TcpClientStream tcpClient, Dictionary <AxisTypes, MotorParameter> motorPara)
{
this.tcpClient = tcpClient;
this.motorParaMap = new Dictionary <AxisTypes, MotorParameter>();
var axises = EnumHelper.GetAllEnumMembers <AxisTypes>();
foreach (var m in axises)
{
this.motorParaMap[m] = motorPara.Keys.Contains(m) ? motorPara[m] : new MotorParameter();
}
this.LoadMotorInfo();
this.EnableAllMotor();
}
public void Dispose()
{
if (TcpClientStream != null)
{
TcpClientStream.Dispose();
TcpClientStream = null;
}
if (TcpClient != null)
{
TcpClient.Close();
TcpClient = null;
}
OutgoingPackets.Clear();
}
public IOController(TcpClientStream tcpClient)
{
this.tcpClient = tcpClient;
}
protected ServiceUpnp(Device aDevice, ServiceType aType, IProtocol aProtocol, IEventUpnpProvider aEventServer)
: base(aDevice, aType, aProtocol)
{
Server = aEventServer;
iMutex = new Mutex();
iUnsubscribeCompleted = new ManualResetEvent(false);
iControlUri = new Uri(Location.Find(ServiceLocationUpnp.kKeyUpnpControlUri));
iSubscribing = false;
iUnsubscribing = false;
iPendingSubscribe = false;
iPendingUnsubscribe = false;
iClosing = false;
if (Server != null)
{
iEventUri = new Uri(Location.Find(ServiceLocationUpnp.kKeyUpnpSubscriptionUri));
IPAddress address;
if (IPAddress.TryParse(iEventUri.Host, out address))
{
iEventEndpoint = new IPEndPoint(address, iEventUri.Port);
}
else
{
try
{
IPAddress[] addresses = Dns.GetHostEntry(iEventUri.Host).AddressList;
for (int i = 0; i < addresses.Length && address == null; i++)
{
if (addresses[i].AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
{
address = addresses[i];
break;
}
}
if (address != null)
{
iEventEndpoint = new IPEndPoint(address, iEventUri.Port);
}
else
{
UserLog.WriteLine("Endpoint not found: " + iEventUri.Host + ":" + iEventUri.Port);
throw new NetworkError();
}
}
catch (Exception ex)
{
throw (new ServiceException(903, "Endpoint lookup failure: " + iEventUri.Host + ":" + iEventUri.Port + ", " + ex));
}
}
iSubscriptionTimer = new System.Threading.Timer(SubscriptionTimerElapsed, null, Timeout.Infinite, Timeout.Infinite);
iRequest = new TcpClientStream();
iWriteBuffer = new Swb(kMaxWriteBufferBytes, iRequest);
iReadBuffer = new Srb(kMaxReadBufferBytes, iRequest);
iWriter = new WriterRequest(iWriteBuffer);
iReader = new ReaderResponse2(iReadBuffer);
iHeaderUpnpSid = new HeaderUpnpSid();
iHeaderUpnpServer = new HeaderUpnpServer();
iHeaderUpnpTimeout = new HeaderUpnpTimeout();
iReader.AddHeader(iHeaderUpnpSid);
iReader.AddHeader(iHeaderUpnpServer);
iReader.AddHeader(iHeaderUpnpTimeout);
}
}