public void SendConfigurations(ConfigurationData confData)
{
AutoResetEvent are = new AutoResetEvent(false);
Thread newConfigThread = new Thread(() =>
{
ConfigurationData temp = new ConfigurationData();
while (!temp.Equals(confData)) // Sends configurations until the configurations on the robot is equal to the desired
{
WriteConfigurationBytes(confData);
Thread.Sleep(10); // 100 hZ frequency
temp = GetConfigurations();
}
are.Set();
});
newConfigThread.IsBackground = true;
newConfigThread.Start();
Thread waitThread = new Thread(() =>
{
bool configSent = are.WaitOne(_timeout, false);
if (configSent)
{
Data.Instance.ReceiveConfiguration(confData);
}
});
waitThread.IsBackground = true;
waitThread.Start();
}
/// <summary>Sends the configurations to the modbus server to change the configurations of the robot.</summary>
/// <param name="configData">Object containing the desired configurations.</param>
public void SetConfigurations(ConfigurationData configData)
{
AutoResetEvent are = new AutoResetEvent(false);
Thread newConfigThread = new Thread(() =>
{
ConfigurationData temp = new ConfigurationData();
while (!temp.Equals(configData)) // Sends configurations until the configurations on the robot is equal to the desired
{
modBus.SendConfigurations(configData); // Sends the desired configuration
Thread.Sleep(10); // Sleep thread to optain a frequency on 100Hz
temp = modBus.GetConfigurations(); // Gets the current configurations on the robot
}
are.Set();
});
newConfigThread.IsBackground = true;
newConfigThread.Start();
Thread waitThread = new Thread(() =>
{
if (OnConfigCompleted != null)
{
OnConfigCompleted(are.WaitOne(timeout, false)); // Event is thrown when the AutoResetEvent is set or when timeout has run out.
}
});
waitThread.IsBackground = true;
waitThread.Start();
}
