bool WaitForLongtimeOperation(int AxisIndex, byte CommandOrderExpected, out AxisStateReport AxisState)
{
bool timeout = false;
int lastPosition = 0;
DateTime reqStart = DateTime.Now;
do
{
if (RequestAxisState(AxisIndex, out AxisState))
{
var axisStateInReport = HidReport.AxisStateCollection[AxisIndex];
axisStateInReport.IsRunning = AxisState.IsRunning;
axisStateInReport.IsHomed = AxisState.IsHomed;
axisStateInReport.AbsPosition = AxisState.AbsPosition;
axisStateInReport.Error = AxisState.Error;
OnReportUpdated?.Invoke(this, HidReport);
// Check whether the home process is alive
if (lastPosition != AxisState.AbsPosition)
{
reqStart = DateTime.Now;
lastPosition = AxisState.AbsPosition;
}
//Trace.WriteLine(string.Format("{0:mm:ss.ffffff}\tCommandOrder in Report {1}, Desired {2} ...", DateTime.Now, AxisState.CommandOrder, CommandOrderExpected));
if (AxisState.CommandOrder == CommandOrderExpected)
{
// the operation is done
break;
}
}
// check if it's timeout
if ((DateTime.Now - reqStart).TotalSeconds > 5)
{
timeout = true;
break;
}
Thread.Sleep(20);
} while (true);
if (timeout)
{
return(false);
}
else
{
return(true);
}
}
/// <summary>
/// rasie this event when a data pack containing up-to-date hid report is received
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnReportReceived(object sender, byte[] e)
{
// the first byte is report id
int _report_id = (int)e[0];
// report of device state
if (_report_id == REPORT_ID_DEVICESTATE)
{
// copy the previous report before parsing the new report raw data
DeviceStateReport _previous_report = this.Report.Clone() as DeviceStateReport;
// parse the report from the up-to-date raw data
this.Report.ParseRawData(e);
// raise the event
OnReportUpdated?.Invoke(this, this.Report);
// if the state of input changes, raise the event
for (int i = 0; i < this.Report.AxisStateCollection.Count; i++)
{
if (this.Report.AxisStateCollection[i].IN_A != _previous_report.AxisStateCollection[i].IN_A)
{
OnInputIOStatusChanged?.Invoke(this, new InputEventArgs(i * 2, this.Report.AxisStateCollection[i].IN_A));
}
if (this.Report.AxisStateCollection[i].IN_B != _previous_report.AxisStateCollection[i].IN_B)
{
OnInputIOStatusChanged?.Invoke(this, new InputEventArgs(i * 2 + 1, this.Report.AxisStateCollection[i].IN_B));
}
}
}
// report of firmware information
else if (_report_id == REPORT_ID_FACTINFO)
{
buf_report_factinfo.AddRange(e);
}
}
void StartObtainHidReport()
{
if (taskObtainDeviceState == null || taskObtainDeviceState.IsCompleted)
{
ctsObtainDeviceState = new CancellationTokenSource();
ctObtainDeviceState = ctsObtainDeviceState.Token;
pauseObtainDeviceStateTask = new ManualResetEvent(true);
var progressHandler = new Progress <byte[]>(value =>
{
var report = HidReport.Clone() as DeviceStateReport;
this.HidReport.Parse(value);
OnReportUpdated?.Invoke(this, HidReport);
for (int i = 0; i < HidReport.AxisStateCollection.Count; i++)
{
if (this.HidReport.AxisStateCollection[i].IN_A != report.AxisStateCollection[i].IN_A)
{
OnInputIOStatusChanged?.Invoke(this, new InputIOEventArgs(i * 2, HidReport.AxisStateCollection[i].IN_A));
}
if (this.HidReport.AxisStateCollection[i].IN_B != report.AxisStateCollection[i].IN_B)
{
OnInputIOStatusChanged?.Invoke(this, new InputIOEventArgs(i * 2 + 1, HidReport.AxisStateCollection[i].IN_B));
}
}
});
var progress = progressHandler as IProgress <byte[]>;
taskObtainDeviceState = Task.Factory.StartNew(() =>
{
while (true)
{
DateTime start = DateTime.Now;
//Trace.WriteLine(string.Format("{0:mm:ss.ffffff}\tObtain HID report ...", start));
Request(EnumCommand.REQ_SYSTEM_STATE, out byte[] buff);
if (buff != null)
{
progress.Report(buff);
}
//Trace.WriteLine(string.Format("{0:mm:ss.ffffff}\tHID report is received, takes {1:F6}ms", DateTime.Now, (DateTime.Now - start).TotalMilliseconds));
/*
* Delay some seconds after the last operation
*/
Thread.Sleep(200);
pauseObtainDeviceStateTask.WaitOne();
while ((DateTime.Now - timeLastOperation).TotalMilliseconds < 500)
{
Thread.Sleep(200);
;
}
ctObtainDeviceState.ThrowIfCancellationRequested();
}
}, TaskCreationOptions.LongRunning);
//await taskObtainDeviceState;
}
}
