public async Task CollectData(uint dataCollectionPositionDelta, int numberOfSamples, string resultfolderPath, CancellationToken token)
{
PositionControllerResponse response = await this.positionController.GetPosition().ConfigureAwait(false);
// we assume line sensor is positioned in the middle of the position controller and image is awlays in the same place
uint startPosition = response.Position;
uint currentPosition = startPosition;
if (Directory.Exists(resultfolderPath))
{
Directory.Delete(resultfolderPath);
}
Directory.CreateDirectory(resultfolderPath);
while (!token.IsCancellationRequested)
{
double currentRealPosition = currentPosition;
currentRealPosition -= startPosition;
currentRealPosition *= PositionController.DISTANCE_PER_TICK_MM;
if (currentRealPosition > SENSOR_LENGTH)
{
break;
}
LineSensorReading lineSensorReading = await getLineSensorData(currentRealPosition, numberOfSamples, token).ConfigureAwait(false);
await saveLineSensorDataToFile(lineSensorReading, resultfolderPath).ConfigureAwait(false);
currentPosition = await moveToNextPosition(dataCollectionPositionDelta).ConfigureAwait(false);
}
}
public async Task <PositionControllerResponse> StrongEmergencyStop(uint maxAttempts = 10)
{
this.semaphore.WaitOne();
try
{
if (this.serialDevice == null)
{
return(new PositionControllerResponse(PositionControllerStatus.CS_ERR_DEVICE_NOT_CONNTECTED));
}
for (uint i = 0; i < maxAttempts; ++i)
{
try
{
PositionControllerResponse result = await ExecutePrebuiltCommand(commandsBuffers[PositionControllerCommand.EMERGENCY_STOP], false).ConfigureAwait(false);
if ((result.Status & PositionControllerStatus.PC_OK_MASK) == PositionControllerStatus.PC_OK_EMERGENCY_STOP)
{
return(result);
}
await ExecutePrebuiltCommand(commandsBuffers[PositionControllerCommand.RESET], false).ConfigureAwait(false);
await Task.Delay(50)
.ConfigureAwait(false);
result = await ExecutePrebuiltCommand(commandsBuffers[PositionControllerCommand.GET_STATUS], false).ConfigureAwait(false);
if ((result.Status & PositionControllerStatus.PC_OK_MASK) == PositionControllerStatus.PC_OK_RESET)
{
return(result);
}
}
catch (Exception e)
{
this.logger.Error(e, $"unexpected exception while trying to emergency stop '{nameof(this.deviceId)}' position controller");
}
}
return(new PositionControllerResponse(PositionControllerStatus.CS_ERR_GAVE_UP_EXECUTING_COMMAND));
}
finally
{
this.semaphore.Release();
}
}
private async Task <uint> moveToNextPosition(uint dataCollectionPositionDelta)
{
PositionControllerResponse response = await this.positionController.MoveIfIdle(PositionControllerDirection.FORWARD, dataCollectionPositionDelta).ConfigureAwait(false);
if ((response.Status & PositionControllerStatus.PC_OK_EMERGENCY_STOP) == PositionControllerStatus.PC_OK_EMERGENCY_STOP)
{
throw new InvalidOperationException("position controller is in emergency stop");
}
else
{
do
{
response = await this.positionController.GetPosition().ConfigureAwait(false);
if ((response.Status & PositionControllerStatus.PC_OK_EMERGENCY_STOP) == PositionControllerStatus.PC_OK_EMERGENCY_STOP)
{
throw new InvalidOperationException("position controller is in emergency stop");
}
} while (!positionController.IsOkStatus(response.Status) || (response.Status & PositionControllerStatus.PC_OK_BUSY) != 0);
return(response.Position);
}
}
