/// <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>
/// 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;
}
}
