/// <summary>
/// Performs an instant stop of the actuator <br/>
///Not recommended because of potential hardware stress. Consider using Controller.MainController.ActuatorSoftStop() instead <br/>
///Higher level wrapper method, called from the user interface. Calls Controller.ActuatorController.HardStop()
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
public void ActuatorHardStop(int deviceID)
{
if (ActuatorInContext.GetStatus(ActuatorInContext.DeviceID).CurSpeed != 0 || ActuatorInContext.GetStatus(ActuatorInContext.DeviceID).uCurSpeed != 0)
{
if (ActuatorInContext.HardStop(deviceID) == Result.ok)
{
//Task asyncTask = Task.Run(() =>
//{
// if (ActuatorInContext.WaitForStopWhile(deviceID, 0) == Result.ok)
// logController.LogActuatorInfo(Enums.ActuatorLog.HardStop, ActuatorInContext, Enums.ActuatorLogTiming.Finish);
//});
}
}
}
/// <summary>
/// Deprecated. Thread was tasked with executing work used for checking for newly connected actuators.
/// by calling Controller.ActuatorErrorHandler.CheckForActuatorErrors()
/// </summary>
/// <param name="obj"></param>
/// <param name="e"></param>
// TO DELETE
void bgWorkerErrorPollingProgressChanged(object obj, ProgressChangedEventArgs e)
{
if (ActuatorInContext.DeviceID != -1)
{
actuatorErrorHandler.CheckForActuatorErrors(ActuatorInContext.GetStatus(ActuatorInContext.DeviceID));
}
// If device is -1, meaning that actuator got disconncted
else
{
// Try to get another actuator in context, the first one found in the list
if (Actuators.Count > 0)
{
ChangeContext(Actuators.List[0].DeviceID);
}
// Await actuator connection
else
{
}
}
}
