public bool checkRtnMsg(m3piComm ctrl)
{
// check if there is return msg already
if (!ctrl.m_bRtn)
{
float executeTime = Time.time - ctrl.m_runTime;
// check if it is already too long then return and sync up them again
if (executeTime < (ctrl.m_cmdTime + 0.5f))
{
return(false);
}
Debug.Log("exe:\t" + executeTime + "\test:\t" + ctrl.m_cmdTime);
Debug.Log("wait too long:\t" + executeTime);
ctrl.m_exStop = true;
return(true);
}
if (ctrl.m_returnMsg.Length > 0)
{
Debug.Log(ctrl.m_returnMsg);
}
ctrl.m_returnMsg = "";
if (StreamSingleton.getInst().getReceiveThread() != null)
{
//Debug.Log ("abort in checkRtnMsg and return true" + ctrl.receiveThread.ThreadState);
StreamSingleton.getInst().getReceiveThread().Abort();
}
return(true);
}
//unused
bool checkRtnMsg()
{
// check if there is return msg already
float executeTime = Time.time - m3piCtrler.m_runTime;
if (!m3piCtrler.m_bRtn)
{
// check if it is already too long then return and sync up them again
if (executeTime < (m3piCtrler.m_cmdTime + 0.8f))
{
return(false);
}
else
{
print("wait too long:\t" + executeTime);
m3piCtrler.m_exStop = true;
return(true);
}
}
if (m3piCtrler.m_returnMsg.Length > 0)
{
print(m3piCtrler.m_returnMsg);
}
m3piCtrler.m_returnMsg = "";
if (StreamSingleton.getInst().getReceiveThread() != null)
{
StreamSingleton.getInst().getReceiveThread().Abort();
}
return(true);
}
static public StreamSingleton getInst()
{
if (stream_inst == null)
{
stream_inst = new StreamSingleton();
}
return(stream_inst);
}
public void forward(int step)
{
if (step > 20)
{
step = 20;
}
open();
StreamSingleton.getInst().getStream().Write(encode(step, step));
}
void stopReceivingThread()
{
foreach (m3piComm m3piCtrl in m3piCtrls)
{
if ((StreamSingleton.getInst().getReceiveThread().ThreadState == System.Threading.ThreadState.Running)
// || (m3piCtrl.receiveThread.ThreadState == System.Threading.ThreadState.Stopped)
)
{
StreamSingleton.getInst().getReceiveThread().Abort();
print("Done with stopReceivingThread");
}
}
}
public void open()
{
if (stream == null)
{
stream = StreamSingleton.getInst();
}
if (stream != null)
{
if (!stream.getStream().IsOpen)
{
stream.getStream().Open();
}
}
}
void OnDestroy()
{
// foreach (m3piComm mctrl in m3piCtrls) {
// if (mctrl.receiveThread != null) {
// mctrl.receiveThread.Abort ();
// print ("destroy:\t" + mctrl.receiveThread.ThreadState);
// }
// }
// if (StreamSingleton.getInst ().getReceiveThread () != null) {
// StreamSingleton.getInst ().getReceiveThread ().Abort ();
// print ("destroy:\t" + StreamSingleton.getInst ().getReceiveThread ().ThreadState);
// }
StreamSingleton.getInst().minusThread();
StreamSingleton.getInst().minusThread(true);
}
public SerialCommunication()
{
stream = null;
angleHelpArray = new AngleData[6];
angleHelpArray[0] = new AngleData(15, 2, 56.83f);
angleHelpArray[1] = new AngleData(10, 2, 38.1f);
angleHelpArray[2] = new AngleData(8, 2, 31.92f);
angleHelpArray[3] = new AngleData(6, 2, 22.14f);
angleHelpArray[4] = new AngleData(5, 2, 16.7f);
angleHelpArray[5] = new AngleData(3, 2, 11.5f);
//angleHelpArray[6] = new AngleData(3,1,5.7f);
posHelpArray = new PosData[6];
posHelpArray[0] = new PosData(25, 3, 0.206f);
posHelpArray[1] = new PosData(20, 3, 0.177f);
posHelpArray[2] = new PosData(15, 3, 0.138f);
posHelpArray[3] = new PosData(10, 3, 0.0975f);
posHelpArray[4] = new PosData(6, 3, 0.064f);
posHelpArray[5] = new PosData(3, 3, 0.039f);
}
// new version for sharing thread
public bool checkRtnMsg2(m3piComm ctrl)
{
//if (ctrl.m_runTime < 0.1f || ctrl.m_bRtn)
if (ctrl.m_bRtn)
{
return(true); // just started
}
// check if the command is matched with one of the received msg and will discard unused msg
int matchResult = StreamSingleton.getInst().match(ctrl.m_command);
if (matchResult == 0)
{
// matched
StreamSingleton.getInst().minusThread();
ctrl.m_bRtn = true;
return(true);
}
// then check if it waits not too long
else //(matchResult == 2)
{
float executeTime = Time.time - ctrl.m_runTime;
if (executeTime < (ctrl.m_cmdTime + 0.8f))
{
return(false);
}
else
{
// too long then stop one, if it is 0 for link count, kill the thread
Debug.Log("wait too long:\t" + ctrl.m_cmdTime + "\t" + executeTime);
//StreamSingleton.getInst ().setExstop (true);
StreamSingleton.getInst().minusThread();
ctrl.m_bRtn = true; // do not need to wait for next return msg
return(true);
}
}
//return false;
}
void OnDestroy()
{
// StreamSingleton.getInst().getReceiveThread().Abort ();
// print ("destroy:\t" + StreamSingleton.getInst().getReceiveThread().ThreadState);
StreamSingleton.getInst().minusThread();
}
void OnDestroy()
{
//StreamSingleton.getInst ().minusThread ();
StreamSingleton.getInst().minusThread(true);
}
