/// <summary>
/// Does the task work.
/// </summary>
/// <param name="token">The token.</param>
private void LidarTaskDoWork(CancellationToken token)
{
try
{
// Check if on start is canceled
token.ThrowIfCancellationRequested();
IsRunning = true;
while (true)
{
if (token.IsCancellationRequested)
{
token.ThrowIfCancellationRequested();
}
Thread.Sleep(400);
if (RpLidarInterface.LidarIsConnected() != 1)
{
return;
}
var scanResult = RpLidarInterface.GetCurrentVectors();
OnScanDataReceived?.Invoke(this, new LidarDataReceivedEventArgs(scanResult, ++_ScanNumber));
}
}
catch (OperationCanceledException)
{
throw;
}
catch (AggregateException e)
{
foreach (var v in e.InnerExceptions)
{
Console.WriteLine(v);
}
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
finally
{
// Stop device and dispose driver
try
{
// Exception happens when closing an connection
// where someone has reconnect USB cable during usage
RpLidarInterface.LidarDisposeDriver();
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
IsRunning = false;
}
}
/// <summary>
/// Stops this instance.
/// </summary>
/// <returns><c>true</c> if successfully, <c>false</c> otherwise.</returns>
public bool LidarStop()
{
if (!IsRunning ||
IsDisposed)
{
return(false);
}
_TokenSource?.Cancel();
try
{
_Task?.Wait(_Token);
}
catch (OperationCanceledException)
{
}
catch (AggregateException e)
{
foreach (var v in e.InnerExceptions)
{
Console.WriteLine(v);
}
}
finally
{
_TokenSource?.Dispose();
}
try
{
// Stop device and dispose driver
RpLidarInterface.LidarDisposeDriver();
if (RpLidarInterface.LidarIsConnected() != 1)
{
return(true);
}
else
{
return(false);
}
}
finally
{
if (RpLidarInterface.LidarIsConnected() != 1)
{
OnDeviceDisconnected?.Invoke(this, EventArgs.Empty);
}
}
}
/// <summary>
/// Releases unmanaged and - optionally - managed resources.
/// </summary>
/// <param name="disposing"><c>true</c> to release both managed and unmanaged resources; <c>false</c> to release only unmanaged resources.</param>
protected virtual void LidarDispose(bool disposing)
{
if (!_Disposed)
{
if (!IsRunning)
{
return;
}
try
{ // Signal exit
_TokenSource?.Cancel();
}
catch
{
}
try
{
// Wait until task is ended
_Task.Wait(5000, _Token);
}
catch (OperationCanceledException)
{
// Task tell us it's ended
}
catch (AggregateException e)
{
foreach (var v in e.InnerExceptions)
{
Console.WriteLine(v);
}
}
finally
{
// Dispose token source
_TokenSource?.Dispose();
// Stop motor, disconnect device and dispose driver
RpLidarInterface.LidarDisposeDriver();
_Disposed = true;
}
}
}
