internal JoyStickChannel(string ChannelName, MotorSimulation Motor, double Value, double PosLimit, double NegLimit)
{
channelName = ChannelName;
motor = Motor;
upperLmt = PosLimit;
lowerLmt = NegLimit;
backupValue = Value;
currentValue = Value;
Bond();
}
async Task <bool> CheckMotionStatusDoneAsyn(MotorSimulation Motor)
{
var task = Task.Run(async() =>
{
await Task.Yield();
while (Motor.Status == MotorSimulation.StatusEnum.EXECUTING)
{
}
});
return(await Task.WhenAny(task, Task.Delay(10000)) == task);
}
public async Task TriggerCommandAsync(DirectionEnum Dir)
{
int set = (int)mCurrentChannelSet;
mCurDirection = Dir;
bool syncX = false;
bool syncY = false;
if (mChannelSets[set].ChannelX != null && IsVectorX())
{
SetJoyCurSpeedModeX();
syncX = mChannelSets[set].ChannelX.Increment(mFactorX * StepX());
}
if (mChannelSets[set].ChannelY != null && IsVectorY())
{
SetJoyCurSpeedModeY();
syncY = mChannelSets[set].ChannelY.Increment(mFactorY * StepY());
}
if (syncX || syncY)
{
CallBackFunction(mCallback);
}
if (syncX)
{
MotorSimulation motor = mChannelSets[set].ChannelX.GetMotor();
var task = CheckMotionStatusDoneAsyn(motor);
FailureHandling(await task);
}
if (syncY)
{
MotorSimulation motor = mChannelSets[set].ChannelY.GetMotor();
var task = CheckMotionStatusDoneAsyn(motor);
FailureHandling(await task);
}
}
public void SetYChannel(string Name, int Value, MotorSimulation Motor, double PosLimit = 9999, double NegLimit = 9999, SETEnum Set = SETEnum.ONE)
{
int set = (int)Set;
mChannelSets[set].ChannelY = new JoyStickChannel(Name, Motor, Value, PosLimit, NegLimit);
}
