private static bool WaitForMessage(TCubeDCServo cube, int messageTypeID, int requiredMessageID)
{
while (true)
{
ushort messageType;
ushort messageID;
uint messageData;
// if no messages waiting
if (cube.MessageQueueSize() == 0)
{
// reset wait for message event and wait for a message
_event.Reset();
_event.WaitOne();
}
// get the message
cube.GetNextMessage(out messageType, out messageID, out messageData);
// if message is correct
if ((messageType == messageTypeID) && (messageID == requiredMessageID))
{
return(true);
}
if (cube.HasLastMsgTimerOverrun())
{
Int64 lastMsg;
cube.TimeSinceLastMsgReceived(out lastMsg);
Console.WriteLine("device not responded, lastMsg {0}", lastMsg);
cube.Close();
Console.ReadKey();
return(false);
}
}
}