public void AddMovementInfo(FastMovementInfo item)
{
lock (this._syncLock)
{
this._movementInfos.Insert(0, item);
}
}
private async Task RunTest()
{
this._panTiltControl.PanTiltAbsolute(0, 0);
this._positionChecker?.ComparePosition(new PanTiltPosition(0, 0), tolerance: 0.5, retry: 50);
this._lastPosition.Pan = this._currentPosition.Pan;
this._lastPosition.Tilt = this._currentPosition.Tilt;
this._movementInfos.Clear();
this.PrepareDrawing();
this._currentPtIndices = -1;
this._ptUpdateTimer.Enabled = true;
this._ptUpdateTimer.Start();
var timeoutCommands = (int)this.numericUpDownTime.Value;
foreach (var panTiltPosition in this._panTiltPositions)
{
this._currentPtIndices++;
if (this._currentPtIndices == 0)
{
this.DrawMovement(this._panTiltPositions.First(), this._panTiltPositions.First(), this._currentPtIndices, false);
}
else
{
var isLast = this._currentPtIndices == this._panTiltPositions.Count - 1;
this.DrawMovement(this._panTiltPositions[_currentPtIndices - 1], this._panTiltPositions[_currentPtIndices], this._currentPtIndices, isLast);
}
var info = new FastMovementInfo(DateTime.Now, this._currentPtIndices, "NewPosition", panTiltPosition.Pan, panTiltPosition.Tilt);
this.AddMovementInfo(info);
await Task.Run(() =>
{
this._panTiltControl?.PanTiltAbsolute(panTiltPosition.Pan, panTiltPosition.Tilt);
this._waitMovementResetEvent.WaitOne(timeoutCommands);
});
}
await Task.Run(() =>
{
this._positionChecker?.ComparePosition(this._panTiltPositions.Last(), tolerance: 0.5, retry: 50);
});
this._ptUpdateTimer.Stop();
this._ptUpdateTimer.Enabled = false;
this.RefreshGrid();
}
private void UpdateTimerElapsed(object sender, ElapsedEventArgs e)
{
try
{
if (this._panTiltControl == null || this.buttonStartFast.Enabled)
{
return;
}
var currentPosition = this._currentPosition;
if (currentPosition == null)
{
return;
}
var info = new FastMovementInfo(DateTime.Now, this._currentPtIndices, "CurrentPosition", currentPosition.Pan, currentPosition.Tilt);
this.AddMovementInfo(info);
lock (this._syncObject)
{
this._drawEngine.DrawLine(currentPosition, this._lastPosition, new Pen(Brushes.HotPink).Color, 4);
this._drawEngine.DrawCircle(new PanTiltPosition(currentPosition.Pan, currentPosition.Tilt), 5, Brushes.HotPink);
}
this.UpdateCurrentImage();
Debug.WriteLine(currentPosition);
Debug.WriteLine(this._lastPosition);
this._lastPosition.Pan = currentPosition.Pan;
this._lastPosition.Tilt = currentPosition.Tilt;
this.RefreshGrid();
}
catch (Exception exception)
{
MessageBox.Show("Error", exception.Message);
}
}
