/// <summary>
/// Run method of the background pulling thread to check the input port of the
/// robot. The robot does not support interrupts (-.-), so a stupid polling is needed.
/// </summary>
private void Run()
{
int oldData = -1;
int newData;
run = true;
while (run)
{
newData = this.Data;
if (oldData != newData)
{
for (int i = 0; i < 4; i++)
{
bool oldBit = RobotHelper.GetBitFromInteger(oldData, i);
bool newBit = RobotHelper.GetBitFromInteger(newData, i);
if (oldBit != newBit)
{
this.OnDigitalInChanged(new SwitchEventArgs((Switches)i, newBit));
}
}
}
oldData = newData;
Thread.Sleep(50);
}
}
/// <summary>
/// Access a single bit of the input.
/// </summary>
/// <param name="bit">index of the bit to access [0..3]</param>
/// <returns>TRUE if the bit is 1, FALSE if the bit is 0</returns>
public virtual bool this[int bit]
{
get
{
return(RobotHelper.GetBitFromInteger(this.Data, bit));
}
}
/// <summary>
/// Access a single bit of the output.
/// </summary>
///
/// <param name="bit">index of the bit to access [0..3]</param>
/// <returns>TRUE if the bit is 1, FALSE if the bit is 0</returns>
public virtual bool this[int bit]
{
get
{
return(RobotHelper.GetBitFromInteger(data, bit));
}
set
{
this.Data = RobotHelper.SetBitOfInteger(data, bit, value);
}
}
