public void AddVisionResultToList(AxisOffset offset)
{
lock (_captureResultLocker)
{
CaptureResult.Add(offset);
}
}
public AxisOffset RequestVisionCalibration(CapturePosition capturePosition, int timeoutMs = 10000)
{
if (Connected == false)
{
throw new Exception("Vision server not connected.");
}
//log.Info("Sending to server:" + Environment.NewLine +
// Helper.ConvertToJsonString(capturePosition));
//Clean the last unhandled vision response.
while (ResultFound(capturePosition.CaptureId, out AxisOffset offsetResultDump))
{
}
AxisOffset offsetResult = null;
string JsonCommand = Handle.Instance.ObjToJsonstring(capturePosition);
Send(JsonCommand);
var stopwatch = new Stopwatch();
stopwatch.Start();
while (ResultFound(capturePosition.CaptureId, out offsetResult) == false)
{
if (stopwatch.ElapsedMilliseconds > timeoutMs)
{
throw new Exception("RequestVisionCalibration fail, no response from Vision");
}
//_visionResponseManualResetEvent.Reset();
//_visionResponseManualResetEvent.WaitOne();
Thread.Sleep(50);
}
if (offsetResult.ResultOK == false)
{
//log.Info("No Recieved to server of :" + Environment.NewLine +
//Helper.ConvertToJsonString(capturePosition));
throw new VisionException("Vision NG")
{
CaptureId = capturePosition.CaptureId,
};
}
//log.Info("Recieved to server:" + Environment.NewLine +
// Helper.ConvertToJsonString(offsetResult));
return(offsetResult);
}
private bool ResultFound(CaptureId captureId, out AxisOffset offset)
{
lock (_captureResultLocker)
{
foreach (var result in CaptureResult)
{
if (result.CaptureId == captureId)
{
offset = result;
CaptureResult.Remove(result);
return(true);
}
}
offset = null;
return(false);
}
}
