void ldd_evtDataReceive(object sender, MvAssistant.DeviceDrive.WacohForce.WacohForceMessageEventArgs e)
{
var ea = new IHalForce6AxisEventArgs();
ea.centerForceVector = new HalForce6AxisVector(e.centerForceVector);
ea.rawForceVector = new HalForce6AxisVector(e.rawForceVector);
this.OnDataReceive(ea);
}
void OnDataReceive(WacohForceMessageEventArgs ea)
{
if (this.evtDataReceive == null)
{
return;
}
this.evtDataReceive(this, ea);
}
public WacohForceLdd()
{
this.netNonStopTcpClient.EhDataReceive += (sender, e) =>
{
var ee = e as CtkNonStopTcpStateEventArgs;
var msg = ee.TrxMessageBuffer;
this.messageReceiver.Receive(msg.Buffer, msg.Offset, msg.Length);
this.messageReceiver.AnalysisMessage();
if (this.messageReceiver.Count == 0)
{
return;
}
var vec = this.messageReceiver.Dequeue();
if (this.correctionFlag)
{
this.centerForceVector = vec;
lock (this)
correctionFlag = false;
}
var ea = new WacohForceMessageEventArgs();
ea.centerForceVector = this.centerForceVector;
ea.rawForceVector = vec;
this.OnDataReceive(ea);
};
this.netNonStopTcpClient.EhDisconnect += (sender, e) =>
{
this.connectionStatus = WacohForceEnumConnectionStatus.Disconnection;
};
this.netNonStopTcpClient.EhFirstConnect += (sender, e) =>
{
this.connectionStatus = WacohForceEnumConnectionStatus.Connected;
};
}
