async void StartLoop()
{
_robotMessage = "Robot loop started.";
_looping = true;
while (_looping)
{
if (!_robotAwaiting)
{
await Task.Run(() => _robotAwaiting = (_server.Read() == 1));
}
if (!_looping)
{
return;
}
if (_robotAwaiting)
{
if (_stackable == null)
{
Initialize();
}
_currentData = _stackable.GetNextTargets();
if (_currentData == null || _currentData.StopLoop)
{
StopLoop();
return;
}
_server.SendTargets(_currentData.Retract ? 2 : 1, BestGrip(_currentData.Pick), BestGrip(_currentData.Place));
_robotAwaiting = false;
}
}
}
async void StartLoop()
{
_robotMessage = "Robot loop started.";
_looping = true;
while (_looping)
{
if (!_robotAwaiting)
{
_robotAwaiting = await _server.ReadAsync() == 1;
}
if (!_looping)
{
return;
}
if (_robotAwaiting)
{
_currentData = _stackable.GetNextTargets();
if (_currentData == null || _currentData.StopLoop)
{
StopLoop();
return;
}
await _server.SendTargetsAsync(
_currentData.Retract? 2 : 1,
BestGrip(_currentData.Pick),
BestGrip(_currentData.Place)
);
_robotAwaiting = false;
}
}
}
