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using System;
using System.Text;
using System.Linq;
using System.Drawing;
using System.Diagnostics;
using System.Windows.Forms;
using System.Threading;
using System.Threading.Tasks;
using System.Collections.Generic;
using Tango.PMR.Stubs;
using Tango.Stubs;
//unmark Auto logging !
const Int32 x_ABS_POS = 0x01;
const Int32 x_EL_POS = 0x02;
const Int32 x_MARK = 0x03;
const Int32 x_SPEED = 0x04;
const Int32 x_ACC = 0x05;
const Int32 x_DEC = 0x06;
const Int32 x_MAX_SPEED = 0x07;
const Int32 x_MIN_SPEED = 0x08;
const Int32 x_FS_SPD = 0x15;
const Int32 x_KVAL_HOLD = 0x09;
const Int32 x_KVAL_RUN = 0x0A;
const Int32 x_KVAL_ACC = 0x0B;
const Int32 x_KVAL_DEC = 0x0C;
const Int32 x_INT_SPD = 0x0D;
const Int32 x_ST_SLP = 0x0E;
const Int32 x_FN_SLP_ACC = 0x0F;
const Int32 x_FN_SLP_DEC = 0x10;
const Int32 x_K_THERM = 0x11;
const Int32 x_ADC_OUT = 0x12;
const Int32 x_OCD_TH = 0x13;
const Int32 x_STALL_TH = 0x14;
const Int32 x_STEP_MODE = 0x16;
const Int32 x_ALARM_EN = 0x17;
const Int32 x_CONFIG = 0x18;
const Int32 x_STATUS = 0x19;
//-------------------------------
const Int32 x_GET_PARAM = 0x20;
//-------------------------------
const Int32 Max_Motor_ID = 25;
Int32 i = 12; // to run only for specific motor
public void OnExecute(StubManager stubManager)
{
for (i = 0; i < Max_Motor_ID; i++)
{
if((i%8 ==0) )
{
stubManager.Write("MoTor\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\n");
stubManager.Write("------\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\n");
}
stubManager.Write(i);
stubManager.Write("\t");
var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");
stubManager.Write("\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
}
stubManager.Write("MoTor\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
stubManager.Write("-----\t-------\t------\t\t-------\t--------\t-----\n");
for (i = 0; i < Max_Motor_ID; i++)
{
stubManager.Write(i);
stubManager.Write("\t");
var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\t\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
}
}
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