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using System;
using System.Text;
using System.IO;
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;
//--------------------------------------------------------------------------------
//--------------------------------------------------------------------------------
const int RTFU_UNDER_TEST=9;
string [,] Units_status_RTFU = new string[RTFU_UNDER_TEST,2] {
{"LS_RLOADMOTOR_Up","Not Test"}, //0
{"LS_RLOADMOTOR_DOWN","Not Test"}, //1
{"RLOADING_Motor","Not Test"}, //2
{"DRIVING_Motor","Not Test"}, //3
{"LS_RDANCER_DOWN","Not Test"}, //4
{"LS_RDANCER_UP","Not Test"}, //5
{"LS_RLOADRAM_DOWN","Not Test"}, //6
{"RDANCER_Motor","Not Test"}, //7
{"RDANCER_ROTENC","Not Test"}, //8
};
//-----------------------------------------------------
public Task<decimal> RTFU_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location)
{
Task<decimal> task = null;
// Start a task and return it
task = Task.Run(() =>
{
stubManager.Write("S/N:" +SN+ "\n");
stubManager.Write("Location:" +Location+ "\n");
copy_table (RTFU_UNDER_TEST,Units_status_RTFU);
settext("Test RLOADING RTFU");
Test_RLOADING_RTFU();
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3); //hold Rloading high z
delay(100);
// Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x14000000); //set kval ran to 0x14,0.65A
settext("Test RDRIVING RTFU");
Test_RDRIVING_RTFU();
settext("Test DANCER RTFU");
Test_DANCER_RTFU();
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3); //hold Rloading high z
Status=write_to_file(SN,Location,RTFU_UNDER_TEST,"RTFU");
settext("End Test");
decimal result = 0;
return result;
});
return task;
}
//------------------------------------
int Test_RLOADING_RTFU()
{
int temp=1;
int counter;
// Motor_SetParam(F1_MOTO_RLOADING_TX1,F1_MOTO_RLOADING_TX0,0x0a,0x2c000000); //set kval ran to 0x40- 1.9A
delay(100);
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200); //move Rloading down
delay(3000);
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3); //hold Rloading high z
delay(1000);
//------------------------------------------ check F1_LS_RLOADMOTOR_up------------------------------------------------
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //read LS
if ((response.Value & F1_LS_RLOADMOTOR_UP) !=F1_LS_RLOADMOTOR_UP ) //if LS_RLOADMOTOR_UP is up then error
{
DialogResult result = MessageBox.Show("Did RLOADIN MOTOR Move?", "Warning",MessageBoxButtons.YesNo);
if(result == DialogResult.Yes)
{
Units_status[0,1]="Fail";
stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");
return 0;
}
else
{
Units_status[2,1]="Fail";
stubManager.Write("RLOADMOTOR\tFail\n");
return 0;
}
}
//----------------------------------------- mov RLOADING up -------------------------------------------------
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor,false,300); //move Rloading up
counter =0;
while ( counter < 200)
{
counter = counter + 1;
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //if LS_RLOADMOTOR_UP is up then move down
if ((response.Value & F1_LS_RLOADMOTOR_UP) != F1_LS_RLOADMOTOR_UP )
counter=250;
delay(100);
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3); //hold Rloading high z
if (counter == 200)
{
Units_status[0,1]="Fail";
stubManager.Write("LS_RLOADMOTOR_UP\tFail\n");
return 0;
}
DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
if(result1 == DialogResult.No)
{
Units_status[0,1]="Fail";
stubManager.Write("LS_RLOADMOTOR_UP Not calibrate\n");
return 0;
}
Units_status[0,1]="Pass";
Units_status[2,1]="Pass";
//------------------------------------------ check F1_LS_RLOADMOTOR_DN------------------------------------------------
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //read LS
if ((response.Value & F1_LS_RLOADMOTOR_DN) !=F1_LS_RLOADMOTOR_DN ) //if LS_RLOADMOTOR_DN is up then error
{
Units_status[1,1]="Fail";
stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
return 0;
}
//------------------------------------------ mov RLOADING dn ------------------------------------------------
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,300); //move Rloading down
counter =0;
while ( counter < 200)
{
counter = counter + 1;
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //if LS_RLOADMOTOR_UP is up then move down
if ((response.Value & F1_LS_RLOADMOTOR_DN) != F1_LS_RLOADMOTOR_DN )
counter=250;
delay(100);
}
if (counter == 150)
{
Units_status[1,1]="Fail";
stubManager.Write("LS_RLOADMOTOR_DN\tFail\n");
return 0;
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3); //hold Rloading high z
DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
if(result2 == DialogResult.No)
{
Units_status[1,1]="Fail";
stubManager.Write("LS_RLOADMOTOR_DN Not calibrate\n");
return 0;
}
Units_status[1,1]="Pass";
stubManager.Write("RLOADMOTOR\tPass\n");
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RLOADING_Motor, true,200); //move Rloading down
delay(2000);
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RLOADING_Motor, 3); //hold Rloading high z
return 1 ;
}
//----------------------------------
Int32 ReadEncoder()
{
Int32 temp;
stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_RDANCER_ROTENC_DATA_p_TX, 0x0000); //triggers a TX transmission
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_lsb);
var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_RDANCER_ROTENC_DATA_p_RX_msb);
temp = Convert.ToInt32 (((((response1.Value <<16) + response.Value)>>10 ) & 0x3fff));
return temp;
}
//--------------------------------------------------------------------------------
int Test_DANCER_RTFU()
{
int counter;
Int32 temp;
Int32 temp1;
//------------------------------------------ check F1_LS_RDANCER_DOWN ------------------------------------------------
MessageBox.Show("Make sure RDANCER Down");
var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //read LS
if ((response.Value & F1_LS_RDANCER_DOWN) !=F1_LS_RDANCER_DOWN ) //if F1_LS_RDANCER_DOWN is up then error
{
Units_status[4,1]="Fail";
stubManager.Write("LS_RDANCER_DOWN\tFail\n");
return 0;
}
//----------------------------------------- mov RDANCER_Motor up and check F1_LS_RDANCER_DOWN -------------------------------------------------
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,true,10); //move Rloading up
counter =0;
while ( counter < 150)
{
counter = counter + 1;
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //if LS_RLOADMOTOR_UP is up then move down
if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN )
counter=250;
delay(100);
}
if (counter == 150)
{
Units_status[4,1]="Fail";
stubManager.Write("LS_RDANCER_DOWN\tFail\n");
return 0;
}
Units_status[4,1]="Pass";
stubManager.Write("LS_RDANCER_DOWN\tPass\n");
//----------------------------------------- check F1_LS_RDANCER_UP -------------------------------------------------
if ((response.Value & F1_LS_RDANCER_UP) !=F1_LS_RDANCER_UP ) //if F1_LS_RDANCER_UP is up then error
{
Units_status[5,1]="Fail";
stubManager.Write("LS_RDANCER_UP\tFail\n");
return 0;
}
counter =0;
while ( counter < 150)
{
counter = counter + 1;
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //if F1_LS_RDANCER_UP is up then move down
if ((response.Value & F1_LS_RDANCER_UP) != F1_LS_RDANCER_UP )
counter=250;
delay(100);
}
if (counter == 150)
{
Units_status[5,1]="Fail";
stubManager.Write("LS_RDANCER_UP\tFail\n");
return 0;
}
Units_status[5,1]="Pass";
stubManager.Write("LS_RDANCER_UP\tPass\n");
//----------------------------------------- check F1_LS_RLOADRAM_DOWN -------------------------------------------------
if ((response.Value & F1_LS_RLOADRAM_DOWN) !=F1_LS_RLOADRAM_DOWN ) //if F1_LS_RLOADRAM_DOWN is up then error
{
Units_status[6,1]="Fail";
stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");
return 0;
}
counter =0;
while ( counter < 150)
{
counter = counter + 1;
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //if F1_LS_RLOADRAM_DOWN is up then move down
if ((response.Value & F1_LS_RLOADRAM_DOWN) != F1_LS_RLOADRAM_DOWN )
counter=250;
delay(100);
}
if (counter == 150)
{
Units_status[6,1]="Fail";
stubManager.Write("LS_RLOADRAM_DOWN\tFail\n");
return 0;
}
Units_status[6,1]="Pass";
stubManager.Write("LS_RLOADRAM_DOWN\tPass\n");
//----------------------------------------- mov RDANCER_Motor down and check rdancer encoder -------------------------------------------------
temp= ReadEncoder();
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDANCER_Motor,false,10); //move Rloading down
counter =0;
while ( counter < 150)
{
counter = counter + 1;
response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_LS_03_Direct); //if LS_RLOADMOTOR_UP is up then move down
if ((response.Value & F1_LS_RDANCER_DOWN) != F1_LS_RDANCER_DOWN )
counter=250;
delay(100);
}
if (counter == 150)
{
Units_status[4,1]="Fail";
stubManager.Write("LS_RDANCER_DOWN\tFail\n");
return 0;
}
Units_status[7,1]="Pass";
stubManager.Write("RDANCER_Motor\tPass\n");
temp1= ReadEncoder();
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDANCER_Motor, 3); //hold Rloading high z
stubManager.Write("temp="+temp + "\temp1="+temp1 +"\n");
DialogResult result = MessageBox.Show("SSI Dancer led is Green(Not blinking)?", "Warning",MessageBoxButtons.YesNo);
if(result == DialogResult.No)
{
Units_status[8,1]="Fail";
stubManager.Write("RDANCER_SSI\tFail\n");
return 0;
}
if (temp>temp1)
temp1=temp1+0x4000;
temp1=temp1-temp;
if ((temp1> 15000) || (temp1 <1000))
{
Units_status[8,1]="Fail";
stubManager.Write("RDANCER_SSI\tFail\n");
return 0;
}
Units_status[8,1]="Pass";
stubManager.Write("RDANCER_SSI\tPass\n");
return 1;
}
//-------------------------------------------------------------
int Test_RDRIVING_RTFU()
{
stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,RDRIVING_Motor, true,200); //move Rdriving clockwise
stubManager.Write("RDRIVING_Motor Motor rotate \n ");
DialogResult result = MessageBox.Show("Are RDRIVING Motor rotate?", "Warning",MessageBoxButtons.YesNo);
if(result == DialogResult.No)
{
Units_status[3,1]="Fail";
stubManager.Write("RDRIVING Motor not rotate\n");
}
else
{
Units_status[3,1]="Pass";
stubManager.Write("RDRIVING Motor rotate\n");
}
stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,RDRIVING_Motor,3); //stop motor
return 0;
}
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