int RAMPSXYStage::SetPositionSteps(long x, long y)
{
LogMessage("XYStage: SetPositionSteps");
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
std::string status = pHub->GetState();
if (status == "Running") {
return ERR_STAGE_MOVING;
}
double newPosX = x * stepSize_um_;
double newPosY = y * stepSize_um_;
double difX = newPosX - posX_um_;
double difY = newPosY - posY_um_;
double distance = sqrt( (difX * difX) + (difY * difY) );
posX_um_ = x * stepSize_um_;
posY_um_ = y * stepSize_um_;
// TODO(dek): if no position change, don't send new position.
char buff[100];
sprintf(buff, "G0 X%f Y%f", posX_um_/1000., posY_um_/1000.);
std::string buffAsStdStr = buff;
int ret = pHub->SendCommand(buffAsStdStr);
if (ret != DEVICE_OK)
return ret;
pHub->SetTargetXY(posX_um_, posY_um_);
ret = OnXYStagePositionChanged(posX_um_, posY_um_);
if (ret != DEVICE_OK)
return ret;
return DEVICE_OK;
}
bool RAMPSXYStage::Busy()
{
LogMessage("XYStage: Busy called");
RAMPSHub* pHub = static_cast<RAMPSHub*>(GetParentHub());
std::string status = pHub->GetState();
LogMessage("Status is:");
LogMessage(status);
status_ = status;
if (status_ == "Idle") {
LogMessage("idle, return false.");
return false;
}
else if (status_ == "Running") {
LogMessage("Running, return true.");
return true;
}
else {
LogMessage("Unexpected status.");
return false;
}
}
