private void stepCallback(object state)
{
Queue<armMovement> dance = (Queue<armMovement>)state; //the dance should be one move shorter now
if (safe)
{
armMovement lastMove = dance.Dequeue();
if (inRange(lastMove.target,lastMove.ID))
{
if (dance.Count > 0)
{
currentMovement = dance.Peek();
if (transmitMove(currentMovement.ID, currentMovement.target))
{
stepTimer.Change(currentMovement.waitTime, Timeout.Infinite);
}
else
{
safe = false;
if (macroEventStatusUpdate != null)
{
macroEventStatusUpdate(safe);
}
stepTimer.Change(0, Timeout.Infinite);
}
}
else
{
safe = false;
if (macroEventStatusUpdate != null)
{
macroEventStatusUpdate(safe);
}
stepTimer.Change(0, Timeout.Infinite);
}
}
else
{
safe = false;
if (macroEventStatusUpdate != null)
{
macroEventStatusUpdate(safe);
}
stepTimer.Change(0, Timeout.Infinite);
}
}
}
public void performMacro(Queue<armMovement> dance)
{
stepTimer.Change(Timeout.Infinite, Timeout.Infinite);
currentDance = dance;
safe = true;
if (macroEventStatusUpdate != null)
{
macroEventStatusUpdate(safe);
}
if (currentDance.Count > 0)
{
currentMovement = currentDance.Peek();
if (transmitMove(currentMovement.ID, currentMovement.target))
{
stepTimer = new Timer(stepCallback, currentDance, currentMovement.waitTime, Timeout.Infinite);
}
else
{
safe = false;
if (macroEventStatusUpdate != null)
{
macroEventStatusUpdate(safe);
}
stepTimer.Change(0, Timeout.Infinite);
}
}
}
