private async Task Connect()
{
cts = new CancellationTokenSource();
IsCancellationRequested = false;
InputFrame receivedFrame = null;
isInitialized = true;
// Connect with the robot
try {
Task.Run(async() => {
receivedFrame = await rsiAdapter.Connect(Config.Port);
}).Wait(cts.Token);
} catch (OperationCanceledException) {
rsiAdapter.Disconnect();
return;
}
lock (generatorSyncLock) {
generator.Initialize(receivedFrame.Position);
}
lock (receivedDataSyncLock) {
position = receivedFrame.Position;
HomePosition = receivedFrame.Position;
}
// Send first response
OutputFrame response = new OutputFrame()
{
Correction = RobotVector.Zero,
IPOC = receivedFrame.IPOC
};
rsiAdapter.SendData(response);
Initialized?.Invoke(this, EventArgs.Empty);
// Start loop for receiving and sending data
while (!IsCancellationRequested)
{
long IPOC = await ReceiveDataAsync();
SendData(IPOC);
}
}
private void Connect()
{
IsCancellationRequested = false;
InputFrame receivedFrame = new InputFrame {
Position = HomePosition,
AxisPosition = RobotAxisVector.Zero,
IPOC = 0
};
generator.Initialize(receivedFrame.Position);
lock (receivedDataSyncLock) {
position = receivedFrame.Position;
HomePosition = receivedFrame.Position;
}
isInitialized = true;
Initialized?.Invoke(this, EventArgs.Empty);
// Start loop for receiving and sending data
try {
while (!IsCancellationRequested)
{
long IPOC = ReceiveDataAsync();
SendData(IPOC);
Thread.Sleep(4);
}
} catch (Exception e) {
var args = new ErrorOccuredEventArgs {
RobotIp = ToString(),
Exception = e
};
ErrorOccured?.Invoke(this, args);
}
isInitialized = false;
Uninitialized?.Invoke(this, EventArgs.Empty);
}
