/// <summary>
/// Wait for the given <see cref="SaciaBoard"/> motor
/// to reach its stopped position.
/// </summary>
/// <param name="board">The <see cref="SaciaBoard"/></param>
/// <param name="distance">The distance to run the motor</param>
/// <param name="timeout">The time to wait. If time reach <see cref="TimeoutException"/> will be thrown</param>
/// <returns></returns>
/// <exception cref="System.TimeoutException">The operation has timed out waiting for an output to be set.</exception>
public static async Task RunUntilStopped(this SaciaBoard board, int distance, TimeSpan timeout)
{
var expectedPos = board.Position + distance;
var waitForStopped = board.WaitForStopped(CancellationToken.None, timeout);
if (board.UseSoftwarePosition)
{
board.Run(distance);
var task = await Task.WhenAny(waitForStopped)
.ConfigureAwait(false);
// re-await so any cancellations or exceptions can be rethrown
await task;
}
else
{
var waitForPos = board.WaitForPositionReached(expectedPos, timeout);
board.Run(distance);
var task = await Task.WhenAny(waitForStopped, waitForPos).ConfigureAwait(false);
// re-await so any cancellations or exceptions can be rethrown
await task;
}
}
/// <summary>
/// Sets the zero-based output of the given <see cref="SaciaBoard"/>
/// to the specified value. Exits when confirmation recieved from
/// the specifed board that the output has been set.
/// </summary>
/// <param name="board">The <see cref="SaciaBoard"/></param>
/// <param name="output">The zero-based output to set.</param>
/// <param name="value">The value to set the output to.</param>
/// <returns></returns>
public static async Task SetOutputSafe(this SaciaBoard board, int output, bool value)
{
if (board.Outputs[output] != value)
{
var wait = board.WaitForOutput(output, value, CancellationToken.None, TimeSpan.FromSeconds(3));
board.SetOutput(output, value);
await wait.ConfigureAwait(false);
}
}
private static async Task WaitForPositionReached(this SaciaBoard board, double motorPosition, TimeSpan timeout)
{
DateTime start = DateTime.UtcNow;
while (board.Position > motorPosition + 1 || board.Position < motorPosition - 1) // account for potential half step rounding
{
if (start + timeout < DateTime.UtcNow)
{
throw new TimeoutException("The operation has timed out waiting for the motor to complete.");
}
await Task.Delay(20);
}
}
/// <summary>
/// Wait for the given <see cref="SaciaBoard"/> motor
/// to reach its stopped position.
/// </summary>
/// <param name="board">The <see cref="SaciaBoard"/></param>
/// <param name="timeout">The time to wait for the zero value to be set. If time reach <see cref="TimeoutException"/> will be thrown</param>
/// <exception cref="System.TimeoutException">The operation has timed out waiting for a zero value to be set.</exception>
public static async Task ZeroSafe(this SaciaBoard board, TimeSpan timeout)
{
board.Zero();
var start = DateTime.UtcNow;
while (board.Position != 0)
{
if (start + timeout < DateTime.UtcNow)
{
throw new InvalidOperationException("The operation has timed out waiting for a zero value to be set.");
}
await Task.Delay(200);
}
}
/// <summary>
/// Wait for the given <see cref="SaciaBoard"/> motor
/// to reach its stopped position.
/// </summary>
/// <param name="board">The <see cref="SaciaBoard"/></param>
/// <param name="maxDistance">The maximum distance to run the motor.</param>
/// <param name="input">The input to wait for.</param>
/// <param name="value">The expected value of the input.</param>
/// <param name="timeout">The time to wait. If time reach <see cref="TimeoutException"/> will be thrown</param>
/// <param name="errorIfMaxDistanceReached">
/// If true, throw <see cref="InvalidOperationException"/>
/// if max distance reached before input detected
/// </param>
/// <returns></returns>
/// <exception cref="System.TimeoutException">The operation has timed out waiting for an output to be set.</exception>
public static async Task RunUntilStopped(this SaciaBoard board, int maxDistance, int input, bool value, TimeSpan timeout, bool errorIfMaxDistanceReached = true)
{
var maxPos = board.Position + maxDistance;
var waitForInput = board.WaitForInput(input, value, CancellationToken.None, timeout);
var motorStopped = board.WaitForStopped(CancellationToken.None, timeout);
if (board.UseSoftwarePosition)
{
board.Run(maxDistance, input, value);
var task = await Task.WhenAny(waitForInput, motorStopped).ConfigureAwait(false);
//if (board.Inputs[input] != value)
//{
// if (board.Position == maxPos && errorIfMaxDistanceReached)
// {
// throw new InvalidOperationException("Max distance reached before input detected.");
// }
//}
await task;
}
else
{
var waitForPos = board.WaitForPositionReached(maxPos, timeout);
board.Run(maxDistance, input, value);
var task = await Task.WhenAny(waitForInput, motorStopped, waitForPos);
if (board.Inputs[input] != value)
{
if (board.Position == maxPos && errorIfMaxDistanceReached)
{
throw new InvalidOperationException("Max distance reached before input detected.");
}
}
await task;
}
}
/// <summary>
/// Wait for the given <see cref="SaciaBoard"/> to stop.
/// </summary>
/// <param name="board">The <see cref="SaciaBoard"/></param>
/// <param name="token">The cancellation token.</param>
/// <param name="timeout">The time to wait. If time reach <see cref="TimeoutException"/> will be thrown</param>
/// <returns></returns>
/// <exception cref="System.TimeoutException">The operation has timed out waiting for the motor to complete.</exception>
public static async Task WaitForStopped(this SaciaBoard board, CancellationToken token, TimeSpan timeout)
{
var task = TaskExtensions.FromEvent <EventHandler <MotorStoppedEventArgs>, MotorStoppedEventArgs>(
(complete, cancel, reject) => // get handler
(sender, args) => complete(args),
handler => // subscribe
board.MotorStopped += handler,
handler => // unsubscribe
board.MotorStopped -= handler,
(complete, cancel, reject) => // start the operation
{ },
token);
if (await Task.WhenAny(task, Task.Delay(timeout)).ConfigureAwait(false) == task)
{
// re-await so any cancellations or exceptions can be rethrown
await task;
}
else
{
throw new TimeoutException("The operation has timed out waiting for the motor to complete.");
}
}
/// <summary>
/// Wait for the given <see cref="SaciaBoard"/> input
/// to change to the expected value.
/// </summary>
/// <param name="board">The <see cref="SaciaBoard"/></param>
/// <param name="input">The input to wait for</param>
/// <param name="value">The expected value.</param>
/// <param name="token">The cancellation token.</param>
/// <param name="timeout">The time to wait. If time reach <see cref="TimeoutException"/> will be thrown</param>
/// <returns></returns>
/// <exception cref="System.TimeoutException">The operation has timed out waiting for an input to be set.</exception>
public static async Task WaitForInput(this SaciaBoard board, int input, bool value, CancellationToken token, TimeSpan timeout)
{
if (board.Inputs[input] != value)
{
bool complete = false;
board.InputChanged += (o, e) =>
{
if (e.Input == input && e.NewValue == value)
{
complete = true;
}
};
DateTime start = DateTime.UtcNow;
while (!complete)
{
if (DateTime.UtcNow > start + timeout)
{
throw new TimeoutException("The operation has timed out waiting for an input to be set.");
}
await Task.Delay(100).ConfigureAwait(false);
}
}
}
