public void MmToTicks_Minimal_WithFlip()
{
int inMm = MIN_STOPPER_COORD_MM;
int expected = _testAsset.TicksPerRod - Communication.SAFETY_TICKS_BUFFER;
int actual = _testAsset.MmToTicks(inMm, true);
Assert.AreEqual(expected, actual);
}
/// <summary>
/// Main Flow for communication unit
/// </summary>
public override void Job()
{
try
{
if (!_isInitialized)
{
throw new InitializationException(String.Format(
"[{0}] Instance was not initialized. Must call initialization method before used!",
this.GetType().DeclaringType));
}
//we don't wan't to receive new data while not finished with old one
_publisher.Detach(this);
//received command
RodAction action = _publisher.Data;
//Log.Common.Debug(String.Format("[{0}] New action received for {1} Rotational: {2} Linear: {3}: Coordinate: {4} mm",
// MethodBase.GetCurrentMethod().Name, action.RodType.ToString(), action.Rotation.ToString(),
// action.Linear.ToString(), action.DcCoordinate));
//Convert mm to ticks
int proportinalMove = _converter.MmToTicks(action.DcCoordinate);
//Invoke the arduino
_arduino.Move(proportinalMove, action.Rotation);
}
catch (Exception ex)
{
if (ex is ThreadInterruptedException)
{
/* Got new data */
}
else if (ex is InitializationException)
{
throw ex;
}
else
{
Log.Print(String.Format("Error occurred! Reason: [{0}]", ex.Message), eCategory.Error, LogTag.COMMUNICATION);
}
}
finally
{
_publisher.Attach(this);
}
}