/// <summary>
/// Micro Timer Event
/// </summary>
/// <param name="sender"></param>
/// <param name="timerEventArgs"></param>
private void OnTimedEvent(object sender, SickLidar.MicroTimerEventArgs timerEventArgs)
{
if (this.is_timer_interval == false)
{
this.panaLidar.before_timer = timerEventArgs.ElapsedMicroseconds;
this.is_timer_interval = true;
}
else
{
this.panaLidar.timer_time = (double)(timerEventArgs.ElapsedMicroseconds - this.panaLidar.before_timer) / (double)(1000.0);
this.panaLidar.before_timer = timerEventArgs.ElapsedMicroseconds;
}
// sensor count
this.panaLidar.sensor_count = timerEventArgs.TimerCount;
// current time
this.panaLidar.current_time = this.MillisecondDisplay();
// stopwatch start
this.hTimer.Start();
// sensor data acquisition
List <string> gd1_message = this.panaLidar.GD(this.panaLidar.set_parameter.amin, this.panaLidar.set_parameter.amax, '1');
// decoding received data
this.panaLidar.Decode(gd1_message);
// save mode
if (this.panaLidar.file_mode == 2)
{
this.writer.WriteRow(this.panaLidar.save_data);
}
// convert decoded data to 3d point cloud
this.panaLidar.DecodedDataToPointCloud();
// draw data
if (this.panaLidar.point_cloud.Count != 0)
{
this.UpdateGraph();
}
// stopwatch end
this.hTimer.Stop();
// processing time
this.panaLidar.elapsed_time = this.hTimer.Duration;
//// Do something small that takes significantly less time than Interval
//Console.WriteLine(string.Format(
// "Count = {0:#,0} Timer = {1:#,0} µs, " +
// "LateBy = {2:#,0} µs, ExecutionTime = {3:#,0} µs",
// timerEventArgs.TimerCount, timerEventArgs.ElapsedMicroseconds,
// timerEventArgs.TimerLateBy, timerEventArgs.CallbackFunctionExecutionTime));
}
void NotificationTimer(ref long timerIntervalInMicroSec,
ref long ignoreEventIfLateBy,
ref bool stopTimer)
{
int timerCount = 0;
long nextNotification = 0;
MicroStopwatch microStopwatch = new MicroStopwatch();
microStopwatch.Start();
while (!stopTimer)
{
long callbackFunctionExecutionTime =
microStopwatch.ElapsedMicroseconds - nextNotification;
long timerIntervalInMicroSecCurrent =
System.Threading.Interlocked.Read(ref timerIntervalInMicroSec);
long ignoreEventIfLateByCurrent =
System.Threading.Interlocked.Read(ref ignoreEventIfLateBy);
nextNotification += timerIntervalInMicroSecCurrent;
timerCount++;
long elapsedMicroseconds = 0;
while ((elapsedMicroseconds = microStopwatch.ElapsedMicroseconds)
< nextNotification)
{
System.Threading.Thread.SpinWait(10);
}
long timerLateBy = elapsedMicroseconds - nextNotification;
if (timerLateBy >= ignoreEventIfLateByCurrent)
{
continue;
}
MicroTimerEventArgs microTimerEventArgs =
new MicroTimerEventArgs(timerCount,
elapsedMicroseconds,
timerLateBy,
callbackFunctionExecutionTime);
MicroTimerElapsed(this, microTimerEventArgs);
}
microStopwatch.Stop();
}
