public void GoTo(MotionSystemMotorPosition[] positions)
{
SerialOutMessage cmd = new SerialOutMessage();
foreach (var pos in positions)
{
cmd.Add(pos.Channel, pos.Value, pos.StepSize);
}
Send(cmd);
}
public void Add(SerialOutMessage moreData)
{
lock (_servoData) {
moreData._servoData.Keys.ToList().ForEach(k => {
if (_servoData.ContainsKey(k))
{
_servoData[k] = moreData._servoData[k];
}
else
{
_servoData.Add(k, moreData._servoData[k]);
}
});
}
}
private void Send(SerialOutMessage data)
{
if (_serialPort != null && _serialPort.IsOpen)
{
lock (_lockObject) {
//var seroutbytes = data.Data;
//_serialPort.Write(seroutbytes, 0, seroutbytes.Length);
//_timer.Change(5000, 5000);
_sendBuffer.Add(data);
}
}
else
{
LogOutput?.Invoke(this, new LogOutputEventArgs {
Text = "Send failed since Serial Port is not open."
});
}
}