/// <summary>
/// request to receive the current status of all Servos. the StatusReceived event will fire after this call for each servo
/// </summary>
public async Task <ServoStatusResponse[]> GetStatusAsync()
{
var result = new ServoStatusResponse[Count];
return(await _runner.ExecuteAsync(new AsyncCommand <ServoStatusResponse[]>(new ServoStatusCommand(), i =>
{
var response = i as ServoStatusResponse;
if (response != null)
{
//record response for servo
result[response.ServoID - 1] = response;
//return when all received
if (!result.Any(e => e == null))
{
return result;
}
}
return null;
})));
}
void StatusResponse(ServoStatusResponse status)
{
//fire the event for the correct servo
GetServo(status.ServoID)?.StatusResponse(status);
}
internal void StatusResponse(ServoStatusResponse status)
{
//fire the event
StatusReceived?.Invoke(_arm, new DataEventArg <ServoStatusResponse>(status));
}
