public void Initialize()
{
if (isInitialized)
{
return;
}
if (config == null)
{
throw new InvalidOperationException("Robot configuration is not set.");
}
Task.Run(() => {
Task communicationTask = Connect();
communicationTask.ContinueWith(task => {
string robotAdress = ToString();
rsiAdapter.Disconnect();
if (task.IsFaulted)
{
var args = new ErrorOccuredEventArgs {
RobotIp = robotAdress,
Exception = task.Exception.GetBaseException()
};
ErrorOccured?.Invoke(this, args);
}
isInitialized = false;
Uninitialized?.Invoke(this, EventArgs.Empty);
});
});
}
private void Connect()
{
IsCancellationRequested = false;
InputFrame receivedFrame = new InputFrame {
Position = HomePosition,
AxisPosition = RobotAxisVector.Zero,
IPOC = 0
};
generator.Initialize(receivedFrame.Position);
lock (receivedDataSyncLock) {
position = receivedFrame.Position;
HomePosition = receivedFrame.Position;
}
isInitialized = true;
Initialized?.Invoke(this, EventArgs.Empty);
// Start loop for receiving and sending data
try {
while (!IsCancellationRequested)
{
long IPOC = ReceiveDataAsync();
SendData(IPOC);
Thread.Sleep(4);
}
} catch (Exception e) {
var args = new ErrorOccuredEventArgs {
RobotIp = ToString(),
Exception = e
};
ErrorOccured?.Invoke(this, args);
}
isInitialized = false;
Uninitialized?.Invoke(this, EventArgs.Empty);
}
