private void SignalMotionComplete(object state)
{
MotionCompleteEvent.Set();
timer.Dispose();
IsSystemInMotion = false;
motionsToExecute.Clear();
}
public void AddMotion(double currentValue, double nextValue, double speedPerSec)
{
var diff = Math.Abs(currentValue - nextValue);
var sec = diff / speedPerSec + 1.5; //small buffer for small motions
if (!double.IsNaN(sec))
{
motionsToExecute.Add(sec);
MotionCompleteEvent.Reset();
}
}
public void StartMotionClock()
{
if (motionsToExecute.Any())
{
MotionCompleteEvent.Reset();
IsSystemInMotion = true;
var maxTime = motionsToExecute.Max();
Console.WriteLine($"Waiting {maxTime * 1000} ms for motion to complete...");
timer = new Timer(SignalMotionComplete, null, (int)(maxTime * 1000), Timeout.Infinite);
}
else
{
MotionCompleteEvent.Set();
IsSystemInMotion = false;
}
}
