private void ARCLManager_SocketComms_SocketIO_UpdateEmOutputsEvent()
{
while (WaitingForInputUpdate)
{
}
WaitingForOutputUpdate = EmIO_Manager.ReadAllOutputs();
}
private void ARCLManager_SocketComms_SocketIO_UpdateEmInputsEvent(SocketIOArgs data)
{
for (int i = 1; i <= EmIO_Manager.ActiveSets.Count(); i++)
{
EmIO_Manager.ActiveSets[i.ToString()].Inputs = new List <byte>()
{
data.IO[i - 1]
}
}
;
while (WaitingForOutputUpdate)
{
}
WaitingForInputUpdate = EmIO_Manager.WriteAllInputs();
}
private void ConnectionCleanup()
{
if (Connection != null)
{
Connection.ConnectState -= Connection_ConnectState;
Connection.QueueJobUpdate -= Connection_QueueUpdate;
}
if (EmRobots_Manager != null)
{
EmRobots_Manager.InSync -= EmRobots_Manager_InSync;
EmRobots_Manager.Stop();
EmRobots_Manager = null;
}
this.Queue(false, new Action(() => EmRobots_InSync?.Invoke(this, false)));
if (EmIO_Manager != null)
{
EmIO_Manager.InSync -= EmIO_Manager_InSync;
EmIO_Manager.Stop();
EmIO_Manager = null;
}
this.Queue(false, new Action(() => EmIO_InSync?.Invoke(this, false)));
if (EmQueue_Manager != null)
{
EmQueue_Manager.InSync -= EmQueue_Manager_InSync;
EmQueue_Manager.Stop();
EmQueue_Manager = null;
}
this.Queue(false, new Action(() => EmQueue_InSync?.Invoke(this, false)));
Connection?.Close();
Connection?.Dispose();
Connection = null;
}