private void GenerateSegmentsThread()
{
PathGenerationStateChangeEvent args = null;
while (m_running)
{
Tuple <RobotParams, RobotPath> entry = null;
lock (m_lock)
{
if (m_queue.Count > 0)
{
entry = m_queue[0];
m_queue.RemoveAt(0);
m_active = true;
}
else
{
entry = null;
m_active = false;
}
args = null;
int running = m_active ? 1 : 0;
int queued = m_queue.Count;
if (running > 0 || queued > 0 || !m_last_event_idle)
{
args = new PathGenerationStateChangeEvent(running, queued);
if (running == 0 && queued == 0)
{
m_last_event_idle = true;
}
else
{
m_last_event_idle = false;
}
}
}
if (args != null)
{
OnJobStateChanged(args);
}
if (entry != null)
{
GenerateSegmentsForPath(entry.Item1, entry.Item2);
}
else
{
Thread.Sleep(20);
}
}
}
public void GenerateSegments(RobotParams robot, RobotPath path)
{
PathGenerationStateChangeEvent args = null;
Tuple <RobotParams, RobotPath> entry = new Tuple <RobotParams, RobotPath>(robot, path);
lock (m_lock)
{
m_queue.Add(entry);
int running = m_active ? 1 : 0;
int queued = m_queue.Count;
args = new PathGenerationStateChangeEvent(running, queued);
}
OnJobStateChanged(args);
}
protected void OnJobStateChanged(PathGenerationStateChangeEvent args)
{
EventHandler <PathGenerationStateChangeEvent> handler = StateChanged;
handler?.Invoke(this, args);
}