/// <summary>
/// This will interrupt the current movement, wait until it has stopped, and then
/// end when the movement has stopped.
///
/// If no motors are moving when this is called, then it will not wait, and just be
/// able to pass through.
/// </summary>
/// <returns>True if it had to wait for a movement, false if it did not have to wait and there is no movement running.</returns>
public override bool InterruptMovementAndWaitUntilStopped()
{
bool motorsMoving = MCU.MotorsCurrentlyMoving();
if (motorsMoving && CurrentMovementPriority != MovementPriority.None)
{
logger.Info(Utilities.GetTimeStamp() + ": Overriding current movement...");
MCU.MovementInterruptFlag = true;
// Wait until motors stop moving or the interrupt flag is set back to false,
// meaning the MCU has acknowledged and acted on the interrupt.
while (MotorsCurrentlyMoving() && MCU.MovementInterruptFlag == true)
{
;
}
MCU.MovementInterruptFlag = false;
// Ensure there is plenty of time between MCU commands
Thread.Sleep(2000);
}
else
{
return(false);
}
return(true);
}
/// <summary>
/// This will interrupt the current movement, wait until it has stopped, and then
/// end when the movement has stopped.
///
/// If no motors are moving when this is called, then it will not wait, and just be
/// able to pass through.
/// </summary>
/// <param name="isCriticalMovementInterrupt">Specify whether or not this is a critical movement interrupt and perform and immediate stop</param>
/// <param name="isSoftwareStopInterrupt">Specify whether or not this is a software-stop interrupt</param>
/// <returns>True if it had to wait for a movement, false if it did not have to wait and there is no movement running.</returns>
public override bool InterruptMovementAndWaitUntilStopped(bool isCriticalMovementInterrupt = false, bool isSoftwareStopInterrupt = false)
{
bool motorsMoving = MCU.MotorsCurrentlyMoving();
if (motorsMoving && CurrentMovementPriority != MovementPriority.None)
{
logger.Info(Utilities.GetTimeStamp() + ": Overriding current movement...");
MCU.MovementInterruptFlag = true;
// Set corresponding flag depending on whether or not this is a critical movement interrupt
if (isCriticalMovementInterrupt)
{
MCU.CriticalMovementInterruptFlag = true;
}
// Set corresponding flag depending on whether or not this is a software stop interrupt
if (isSoftwareStopInterrupt)
{
// Currently necessary to stop Jog movements. Setting the SoftwaeStopInterruptFlag does not
// interrupt Jog movements. This should be investigated in the future.
if (CurrentMovementPriority == MovementPriority.Jog)
{
ImmediateStop();
}
MCU.SoftwareStopInterruptFlag = true;
}
// Wait until motors stop moving or all interrupt flags are set back to false,
// meaning the MCU has acknowledged and acted on the interrupt.
while (MotorsCurrentlyMoving() && (MCU.MovementInterruptFlag == true || MCU.CriticalMovementInterruptFlag == true || MCU.SoftwareStopInterruptFlag == true))
{
;
}
MCU.MovementInterruptFlag = false;
MCU.CriticalMovementInterruptFlag = false;
MCU.SoftwareStopInterruptFlag = false;
// Ensure there is plenty of time between MCU commands
Thread.Sleep(2000);
}
else
{
return(false);
}
return(true);
}