bool WaitForLongtimeOperation(int AxisIndex, byte CommandOrderExpected, out AxisStateReport AxisState)
{
bool timeout = false;
int lastPosition = 0;
DateTime reqStart = DateTime.Now;
do
{
if (RequestAxisState(AxisIndex, out AxisState))
{
var axisStateInReport = HidReport.AxisStateCollection[AxisIndex];
axisStateInReport.IsRunning = AxisState.IsRunning;
axisStateInReport.IsHomed = AxisState.IsHomed;
axisStateInReport.AbsPosition = AxisState.AbsPosition;
axisStateInReport.Error = AxisState.Error;
OnReportUpdated?.Invoke(this, HidReport);
// Check whether the home process is alive
if (lastPosition != AxisState.AbsPosition)
{
reqStart = DateTime.Now;
lastPosition = AxisState.AbsPosition;
}
//Trace.WriteLine(string.Format("{0:mm:ss.ffffff}\tCommandOrder in Report {1}, Desired {2} ...", DateTime.Now, AxisState.CommandOrder, CommandOrderExpected));
if (AxisState.CommandOrder == CommandOrderExpected)
{
// the operation is done
break;
}
}
// check if it's timeout
if ((DateTime.Now - reqStart).TotalSeconds > 5)
{
timeout = true;
break;
}
Thread.Sleep(20);
} while (true);
if (timeout)
{
return(false);
}
else
{
return(true);
}
}
bool RequestAxisState(int AxisIndex, out AxisStateReport AxisState)
{
bool ret = false;
AxisState = new AxisStateReport();
lockUSBPort.Wait();
//Trace.WriteLine(string.Format("Thread {0}, Enter request axis {1} ...", Thread.CurrentThread.ManagedThreadId, AxisIndex));
try
{
CommandStruct cmd = new CommandStruct()
{
Command = EnumCommand.REQ_AXIS_STATE,
AxisIndex = AxisIndex
};
if (hidPort.WriteData(cmd.ToBytes()))
{
var buff = hidPort.ReadData();
if (buff != null)
{
if (buff[0] == REPORT_ID_AXISSTATE)
{
var buffAvailable = new byte[buff.Length - 1];
Buffer.BlockCopy(buff, 1, buffAvailable, 0, buffAvailable.Length);
AxisState.Parse(buffAvailable);
ret = true;
}
}
}
}
catch
{
ret = false;
}
finally
{
lockUSBPort.Release();
}
//Trace.WriteLine(string.Format("Thread {0}, Exit request ...", Thread.CurrentThread.ManagedThreadId));
return(ret);
}
public object Clone()
{
AxisStateReport state = new AxisStateReport
{
AbsPosition = this.AbsPosition,
AxisIndex = this.AxisIndex,
IsHomed = this.IsHomed,
IsRunning = this.IsRunning,
Error = this.Error,
CWLS = this.CWLS,
CCWLS = this.CCWLS,
ORG = this.ORG,
ZeroOut = this.ZeroOut,
IN_A = this.IN_A,
IN_B = this.IN_B,
OUT_A = this.OUT_A,
OUT_B = this.OUT_B
};
return(state);
}