public void IssueSingleCommand(Command comm)
{
SerialComm serialComm = r.comm;
CommBuffer buffer = serialComm.outputBuffer;
bool send, free;
if (comm.Send(buffer, out send, out free))
{
if (send)
{
serialComm.ForceSendMessage();
}
}
}
public override State DoStuff()
{
Command_StopAll comm = new Command_StopAll(c);
Robot r = c.r;
SerialComm serialComm = r.comm;
CommBuffer buffer = serialComm.outputBuffer;
bool send, free;
comm.Send(buffer, out send, out free);
serialComm.ForceSendMessage();
return(this);
}
public override State DoStuff()
{
Robot r = c.r;
if (r.Ready)
{
SerialComm serialComm = r.comm;
CommBuffer buffer = serialComm.outputBuffer;
Command comm = commands.Peek();
bool send, free;
if (comm.Send(buffer, out send, out free))
{
if (send)
{
serialComm.ForceSendMessage();
}
//if (send) serialComm.SendMessage();
if (free)
{
commands.Dequeue();
if (commands.Count == 0)
{
return(c.GetNextState());
}
}
}
Thread.Sleep(100);
}
return(this);
}