Example #1
0
 private void stepCallback(object state)
 {
     Queue<armMovement> dance = (Queue<armMovement>)state; //the dance should be one move shorter now
     if (safe)
     {
         armMovement lastMove = dance.Dequeue();
         if (inRange(lastMove.target,lastMove.ID))
         {
             if (dance.Count > 0)
             {
                 currentMovement = dance.Peek();
                 if (transmitMove(currentMovement.ID, currentMovement.target))
                 {
                     stepTimer.Change(currentMovement.waitTime, Timeout.Infinite);
                 }
                 else
                 {
                     safe = false;
                     if (macroEventStatusUpdate != null)
                     {
                         macroEventStatusUpdate(safe);
                     }
                     stepTimer.Change(0, Timeout.Infinite);
                 }
             }
             else
             {
                 safe = false;
                 if (macroEventStatusUpdate != null)
                 {
                     macroEventStatusUpdate(safe);
                 }
                 stepTimer.Change(0, Timeout.Infinite);
             }
         }
         else
         {
             safe = false;
             if (macroEventStatusUpdate != null)
             {
                 macroEventStatusUpdate(safe);
             }
             stepTimer.Change(0, Timeout.Infinite);
         }
     }
 }
Example #2
0
 public void performMacro(Queue<armMovement> dance)
 {
     stepTimer.Change(Timeout.Infinite, Timeout.Infinite);
     currentDance = dance;
     safe = true;
     if (macroEventStatusUpdate != null)
     {
         macroEventStatusUpdate(safe);
     }
     if (currentDance.Count > 0)
     {
         currentMovement = currentDance.Peek();
         if (transmitMove(currentMovement.ID, currentMovement.target))
         {
             stepTimer = new Timer(stepCallback, currentDance, currentMovement.waitTime, Timeout.Infinite);
         }
         else
         {
             safe = false;
             if (macroEventStatusUpdate != null)
             {
                 macroEventStatusUpdate(safe);
             }
             stepTimer.Change(0, Timeout.Infinite);
         }
     }
 }