/// <summary>
/// Locks access to the socket and does a read operation. If data has arrived, it is checked for Fanuc
/// control codes and saved to memory.
/// </summary>
/// <returns>A FanucChunk with the complete data and status</returns>
private void ReadIn_Main(FanucSocketOptions options)
{
FanucChunk chunk;
opCancelToken.ThrowIfCancellationRequested();
chunk = new FanucChunk(0);
ChangeState(FanucSocketState.Receiving);
while (!opCancelToken.IsCancellationRequested)
{
if (ns.DataAvailable)
{
ReadIn_GetData(ref chunk);
if (chunk.State == FanucChunkState.ReadyForProcessing)
{
ReadIn_ParseData(ref chunk, options);
}
if (chunk.State == FanucChunkState.Processed)
{
if (ChunkReceived != null)
{
ChunkReceived.Invoke(this, chunk.Data);
}
}
else if (chunk.State == FanucChunkState.Error)
{
if (BadChunkReceived != null)
{
BadChunkReceived.Invoke(this, chunk.Data);
}
}
if (!options.HasFlag(FanucSocketOptions.IgnoreControlCodes))
{
if ((int)chunk.PersistentExtra == 0x14)
{
return;
}
}
chunk = new FanucChunk(chunk);
}
else
{
Thread.Sleep(500);
}
opCancelToken.ThrowIfCancellationRequested();
}
opCancelToken.ThrowIfCancellationRequested();
}
protected virtual void OnChunkReceived(Chunk c)
{
ChunkReceived?.Invoke(this, new FramerEventArgs {
Chunk = c
});
}
