コード例 #1
0
        /// <summary>
        /// Micro Timer Event
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="timerEventArgs"></param>
        private void OnTimedEvent(object sender, SickLidar.MicroTimerEventArgs timerEventArgs)
        {
            if (this.is_timer_interval == false)
            {
                this.panaLidar.before_timer = timerEventArgs.ElapsedMicroseconds;
                this.is_timer_interval      = true;
            }
            else
            {
                this.panaLidar.timer_time   = (double)(timerEventArgs.ElapsedMicroseconds - this.panaLidar.before_timer) / (double)(1000.0);
                this.panaLidar.before_timer = timerEventArgs.ElapsedMicroseconds;
            }

            // sensor count
            this.panaLidar.sensor_count = timerEventArgs.TimerCount;

            // current time
            this.panaLidar.current_time = this.MillisecondDisplay();

            // stopwatch start
            this.hTimer.Start();

            // sensor data acquisition
            List <string> gd1_message = this.panaLidar.GD(this.panaLidar.set_parameter.amin, this.panaLidar.set_parameter.amax, '1');

            // decoding received data
            this.panaLidar.Decode(gd1_message);

            // save mode
            if (this.panaLidar.file_mode == 2)
            {
                this.writer.WriteRow(this.panaLidar.save_data);
            }

            // convert decoded data to 3d point cloud
            this.panaLidar.DecodedDataToPointCloud();

            // draw data
            if (this.panaLidar.point_cloud.Count != 0)
            {
                this.UpdateGraph();
            }

            // stopwatch end
            this.hTimer.Stop();

            // processing time
            this.panaLidar.elapsed_time = this.hTimer.Duration;

            //// Do something small that takes significantly less time than Interval
            //Console.WriteLine(string.Format(
            //    "Count = {0:#,0}  Timer = {1:#,0} µs, " +
            //    "LateBy = {2:#,0} µs, ExecutionTime = {3:#,0} µs",
            //    timerEventArgs.TimerCount, timerEventArgs.ElapsedMicroseconds,
            //    timerEventArgs.TimerLateBy, timerEventArgs.CallbackFunctionExecutionTime));
        }
コード例 #2
0
        void NotificationTimer(ref long timerIntervalInMicroSec,
                               ref long ignoreEventIfLateBy,
                               ref bool stopTimer)
        {
            int  timerCount       = 0;
            long nextNotification = 0;

            MicroStopwatch microStopwatch = new MicroStopwatch();

            microStopwatch.Start();

            while (!stopTimer)
            {
                long callbackFunctionExecutionTime =
                    microStopwatch.ElapsedMicroseconds - nextNotification;

                long timerIntervalInMicroSecCurrent =
                    System.Threading.Interlocked.Read(ref timerIntervalInMicroSec);
                long ignoreEventIfLateByCurrent =
                    System.Threading.Interlocked.Read(ref ignoreEventIfLateBy);

                nextNotification += timerIntervalInMicroSecCurrent;
                timerCount++;
                long elapsedMicroseconds = 0;

                while ((elapsedMicroseconds = microStopwatch.ElapsedMicroseconds)
                       < nextNotification)
                {
                    System.Threading.Thread.SpinWait(10);
                }

                long timerLateBy = elapsedMicroseconds - nextNotification;

                if (timerLateBy >= ignoreEventIfLateByCurrent)
                {
                    continue;
                }

                MicroTimerEventArgs microTimerEventArgs =
                    new MicroTimerEventArgs(timerCount,
                                            elapsedMicroseconds,
                                            timerLateBy,
                                            callbackFunctionExecutionTime);
                MicroTimerElapsed(this, microTimerEventArgs);
            }

            microStopwatch.Stop();
        }