/// <summary>
/// Set sweep the motor speed
/// </summary>
/// <param name="targetSpeed"></param>
/// <param name="smartInterleave">Automatically pause scanning if necessary to adjust the speed, then resume scanning</param>
public async Task SetMotorSpeedAsync(SweepMotorSpeed targetSpeed, bool smartInterleave = true)
{
if (!Connected)
throw new LidaRxStateException("This instance is not yet connected to the Sweep scanner.");
if (this.Info.MotorSpeed == targetSpeed)
return;
bool restartScanning = _isScanning;
if(_isScanning && !smartInterleave)
throw new InvalidOperationException("Cannot change device configuration while scan is running");
await _semaphoreConfigurationChanges.WaitAsync();
if (_isScanning)
{
await StopScanAsync();
// give sweep some time to recover
await Task.Delay(250);
}
var cmd = new AdjustMotorSpeedCommand(targetSpeed);
await SimpleCommandTxRxAsync(cmd);
if (cmd.Status == AdjustMotorSpeedResult.Success)
{
await WaitForStabilizedMotorSpeedAsync(TimeSpan.FromSeconds(30));
this.Info.MotorSpeed = targetSpeed;
}
else
{
throw new SweepProtocolErrorException($"Adjust motor speed command failed with status {cmd.Status}", null);
}
if (restartScanning)
{
await StartScanAsync();
}
_semaphoreConfigurationChanges.Release();
}
public AdjustMotorSpeedCommand(SweepMotorSpeed targetSpeed)
{
this.TargetSpeed = targetSpeed;
}
/// <summary>
/// Set sweep the motor speed
/// </summary>
/// <param name="targetSpeed"></param>
/// <param name="smartInterleave">Automatically pause scanning if necessary to adjust the speed, then resume scanning</param>
public void SetMotorSpeed(SweepMotorSpeed targetSpeed, bool smartInterleave = true)
{
SetMotorSpeedAsync(targetSpeed, smartInterleave).Wait();
}