public static void HomeAndWait(this IMotor mtr)
{
// sync used to wait for move in first axis before proceeding to second axis
object sync = new object();
// flag to avoid deadlock in case notify() is called before before the sync-block after each Move()
bool move_completed = false;
StrongTypedEventHandler <IMotor, MoveCompletedArgs> notify =
(motor, args) => { lock (sync) { move_completed = true; Monitor.Pulse(sync); } };
mtr.MoveCompleted += notify;
try
{
mtr.Home();
lock (sync) { if (!move_completed)
{
Monitor.Wait(sync);
}
}
}
finally
{
mtr.MoveCompleted -= notify;
}
}
