/// <summary>
/// Fnction for AI buffer ready event for general operation.
/// </summary>
unsafe static void ai_buf_ready_func_for_general_op()
{
// Process AI data of ready buffer HERE
// Transfer data from kernel to user
Int32[] Data_array = new Int32[daqCard.GetSampleCountsPerChannel()];
try
{
daqCard.TransferBuffer(Data_array);
if (motionCard.currentDirection != MotionDirection.Stop)
{
// Copy data to update buffer(List)
listHandler.ai_dataList.Add(Data_array);
}
else
{
Console.WriteLine("In ai_buf_ready_func_for_general_op, return event is going to be set");
Returned_event.Set(); // Signal Returned Event to call AsyncClear, which will call back ai_done_cbfunc.
}
}
catch (InvalidOperationException e)
{
Console.WriteLine(e.Message);
}
}
/// <summary>
/// Function for AI buffer ready event during find return point operation.
/// </summary>
unsafe static void ai_buf_ready_func_for_find_rtn_pt()
{
// Transfer data from kernel to user
Int32[] Data_array = new Int32[daqCard.GetSampleCountsPerChannel()];
double ReturnningStopPoint = 0.1;//set stop point to 0.1mm when returning
try
{
daqCard.TransferBuffer(Data_array);
if (motionCard.currentDirection != MotionDirection.Stop)
{
// Copy data to update buffer(List)
listHandler.ai_dataList.Add(Data_array);
// Pressing: Check AI raw data. See if load cell's pressure is over limit
if (motionCard.currentDirection == MotionDirection.Pressing && daqCard.GetLatestVoltageValue() > GetForceLimitInMillivolt())
{
// Stop Servo and Return
motionCard.Stop(); // the stop function will trigger "Move Done" Event
RecordReturnPosistion(daqCard.GetlatestEncoderValue());
}
// Returning: Check Encoder raw data. See if it reutrns to ReturnningStopPoint
if (motionCard.currentDirection == MotionDirection.Returning && daqCard.GetlatestEncoderValue() * config_para.encoder_unit_to_mm < ReturnningStopPoint)
{
// Done. Stop Servo.
motionCard.Stop();
Returned_event.Set(); // Signal Returned Event to call AsyncClear, which will call back ai_done_cbfunc.
}
}
}
catch (InvalidOperationException e)
{
Console.WriteLine(e.Message);
}
}
