private void timerPoll_Tick(object sender, EventArgs e)
{
if (connection_ != null)
{
byte mode;
if (mode_ == PWM_ALT)
{
mode = M_ALT;
}
else if (mode_ == PWM_AZM)
{
mode = M_AZM;
}
else
{
mode = mode_;
}
SendCommand(connection_, new byte[] { (byte)'P', mode }, 25, ReceivePosition);
}
if (started_)
{
if (checkBoxSetNextPos.Checked && tmoSendPos_.CheckExpired() && mode_ != PWM_ALT && mode_ != PWM_AZM)
{
Int32 elapsed = (Int32)(DateTime.Now - startDT_).TotalMilliseconds;
Int32 ts = startTs_ + elapsed + 10000;
double sp = startAltPos_ + speed_ * (elapsed + 10000) / (24.0 * 60.0 * 60000.0);
SendSetNextPosCommand((float)sp, ts, mode_, ReceiveSetNextPos);
}
#if LOGGING_ON
if (connection_ != null && checkBoxLogging.Checked && tmoAddLogData_.CheckExpired())
{
int logCnt = logNextBlockSize_ + 5;
if (logCnt > 14)
{
logCnt = 14;
}
SendCommand(connection_, new byte[] { (byte)'L', (byte)'w', (byte)logCnt, 0 }, 4 + logCnt * 4, AddLogData);
}
#endif
}
}