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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;
Int32 position_32bit=0;
Int32 last_14bit_position;
const Int32 HomeStart=1024;
const Int32 DrierLoadingArm_Motor = 5;
const Int32 NM_ROUND =30;
public void OnExecute(StubManager stubManager)
{
Test_Load_Arm();
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
}
bool Encoder_Dryer_Exist()
{
Int32 temp;
stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000); //triggers a TX transmission
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);
temp = Convert.ToInt32 (response.Value & 0x0300);
if (temp==0)
return true;
else
return false;
}
void ReadEncoder_Dryer()
{
Int32 temp;
Int32 temp1;
stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000); //triggers a TX transmission
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);
temp = Convert.ToInt32 (((((response1.Value <<16) + response.Value)>>10 ) & 0x3fff));
if (temp>last_14bit_position)
{
temp1=temp-last_14bit_position;
position_32bit=position_32bit+temp1;
if (temp1>0x2000)
position_32bit=position_32bit-0x4000;
}
else if (temp<last_14bit_position)
{
temp1=last_14bit_position-temp;
position_32bit=position_32bit-temp1;
if (temp1>0x2000)
position_32bit=position_32bit+0x4000;
}
last_14bit_position=temp;
return ;
}
int Test_Load_Arm()
{
int Loop_Nm = 1;
Int32 temp3=0;
Int32 j=0;
Int32 i=0;
if (!Encoder_Dryer_Exist())
{
stubManager.Write("Encoder of Dryer Fail \n");
return 0;
}
var response = stubManager.ShowResponseWindow("Enter Loop Number for Dryer.", "");
//stubManager.WriteLine(response);
Loop_Nm = int.Parse(response);
ReadEncoder_Dryer();
position_32bit=0;
ReadEncoder_Dryer();
Int32 temp=position_32bit;
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, false, 100);//40
Thread.Sleep(50);
// temp=ReadEncoder_Dryer();
while ((temp3<2)&& (i<12000) ) //wait until Limit Switch or timeout 12000*50msec=10min
{
i++;
Thread.Sleep(50);
ReadEncoder_Dryer();
// stubManager.Write("position_32bit " + position_32bit +"\t");
if (Math.Abs(position_32bit)> (50*0x4000))
temp3=3;
if ((position_32bit-temp)>20)
temp3++;
// stubManager.Write("Temp " + temp +"\n");
temp=position_32bit;
// stubManager.Write("Temp3 " + temp3 +"\n");
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
DialogResult result1 = MessageBox.Show("Arm Motor rotate ?", "Warning",MessageBoxButtons.YesNo);
if(result1 == DialogResult.No)
{
stubManager.Write("Arm Motor Not rotate\n");
return 0;
}
DialogResult result2 = MessageBox.Show("Did Arm Motor arrive to mechanical stopper?", "Warning",MessageBoxButtons.YesNo);
if(result2 == DialogResult.No)
{
stubManager.Write("Arm Motor Not arrive to mecahnicl stopper \n");
return 0;
}
position_32bit=0;
for (int loop=0;i<Loop_Nm;i++)
{
stubManager.Write("Loop Nm " + (loop+1) +" strat up posision \n");
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, true, 200);
// Thread.Sleep(50);
i=0;
temp3=0;
while ((temp3<3)&& (i<12000) ) //wait until Limit Switch or timeout 12000*50msec=10min
{
Thread.Sleep(50);
i++;
ReadEncoder_Dryer();
if (Math.Abs(position_32bit)> (NM_ROUND*0x4000))
temp3=3;
if ((temp-position_32bit)>20)
temp3++;
temp=position_32bit;
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
DialogResult result5 = MessageBox.Show("Did Arm Motor make 30 rounds? See picture on document", "Warning",MessageBoxButtons.YesNo);
if(temp3 >2 )
{
stubManager.Write("Arm Motor not make 30 rounds\n");
return 0;
}
Thread.Sleep(50);
stubManager.Write("Loop Nm " + (loop+1) +" strat down posision \n");
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, false, 200);
i=0;
temp3=0;
while ((temp3<3)&& (i<12000) ) //wait until Limit Switch or timeout 12000*50msec=10min
{
Thread.Sleep(50);
i++;
ReadEncoder_Dryer();
if (Math.Abs(position_32bit)< HomeStart)
temp3=3;
if ((position_32bit-temp)>20)
temp3++;
temp=position_32bit;
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);
DialogResult result3 = MessageBox.Show("Did Arm Motor make 30 rounds? See picture on document", "Warning",MessageBoxButtons.YesNo);
if(temp3 >2 )
{
stubManager.Write("Arm Motor not make 30 rounds\n");
return 0;
}
Thread.Sleep(50);
}
return 0;
}
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