internal InstructionCNC GenerateNextInstruction(double desiredSpeed, bool stopRemainingTimeLockstep = false)
{
if (_currentState == null)
{
_currentState = new PlanStreamerState(_workSegments.ToArray());
if (_estimationSteps != null)
{
_timeEstimationState = _currentState.CreateBranch();
var th = new Thread(_runRemainingTicksEstimation);
th.Priority = ThreadPriority.Lowest;
th.IsBackground = true;
th.Start();
}
_workSegments = null; // prevent modifications after generation started
}
var instruction = _currentState.GenerateNextInstruction(desiredSpeed);
if (_timeEstimationState != null && !stopRemainingTimeLockstep)
{
if (!_wasEstimationLockstepDisabled && desiredSpeed == _previewEstimationDesiredSpeed)
{
_estimationSteps.Add(() =>
{
moveEstimationByNextInstruction(desiredSpeed);
});
}
else
{
_previewEstimationDesiredSpeed = desiredSpeed;
var newState = _currentState.CreateBranch();
_previewTimeEstimationState = newState;
_estimationSteps.Add(() =>
{
_lastEstimationDesiredSpeed = desiredSpeed;
setNewTimeEstimationState(newState);
});
}
}
_wasEstimationLockstepDisabled = stopRemainingTimeLockstep;
return(instruction);
}
private void recalculateRemainingTime()
{
// we need to recalculate the state from current point
var stateCopy = _timeEstimationState.CreateBranch();
var remainingTicks = 0UL;
while (!stateCopy.IsComplete)
{
if (_previewTimeEstimationState != _timeEstimationState)
{
// early stopping - the recalculation will run soon again
return;
}
var instruction = stateCopy.GenerateNextInstruction(_lastEstimationDesiredSpeed);
remainingTicks += instruction.CalculateTotalTime();
}
_remainingTicksEstimation = remainingTicks;
}