ln.ethercat/ln.ethercat/controller/ControllerRemote.cs

using System;
using System.Threading;
using ln.ethercat.controller.drives;
using ln.ethercat.controller.remote;
using ln.logging;

namespace ln.ethercat.controller
{
    public enum CRActions {
        NONE,           // No Action
        ENABLE,         // Enable system (turn on)
        DISABLE,        // Disable system (turn off)
        CLEARFAULT,     // Clear fault state        
    }

    public abstract class ControllerRemote : IDisposable
    {   
        protected Controller Controller;

        public double CycleIntervall { get; set; }
        public double CycleFrequency {
            get => 1.0 / CycleIntervall;
            set => CycleIntervall = 1.0 / value;
        }

        public long CycleCounter { get; private set; }

        public bool IsRunning => threadCycle?.IsAlive ?? false;

        bool stopCycleThread;
        Thread threadCycle;

        public ControllerRemote(Controller controller)
        {
            Controller = controller;
            Controller?.Add(this);
        }
        
        public abstract double[] Targets { get; set; }
        public abstract FeederOperation FeederOperation { get; }

        public void Start()
        {
            lock (this)
            {
                if (threadCycle?.IsAlive ?? false)
                    Stop();

                threadCycle = new Thread(CycleThread);
                threadCycle.Start();
            }
        }

        public void Stop()
        {
            lock (this)
            {
                if (threadCycle?.IsAlive ?? false)
                {
                    stopCycleThread = true;
                    threadCycle.Join(250);
                    if (threadCycle.IsAlive)
                        threadCycle.Abort();
                    threadCycle = null;
                }
            }
        }

        public void SetTargetValue(int drive, double targetValue) => Controller.RemoteUpdateTarget( drive, targetValue );
        public void Action(CRActions action) => Controller.RemoteAction(action);

        protected abstract void Initialize();
        protected abstract void Cycle();
        protected abstract void Shutdown();

        public abstract bool IsSafeToEnable();

        private void CycleThread()
        {
            CycleCounter = 0;
            Initialize();

            DateTime nextCycleRun = DateTime.Now;
            while (!stopCycleThread)
            {
                DateTime currentTime = DateTime.Now;
                nextCycleRun += TimeSpan.FromSeconds(CycleIntervall);
                if (currentTime > nextCycleRun)
                {
                    Logging.Log(LogLevel.WARNING, "ControllerRemote: missed controller cycle");
                    while (currentTime > nextCycleRun)
                        nextCycleRun += TimeSpan.FromSeconds(CycleIntervall);
                }
                TimeSpan timeToNextCycle = nextCycleRun - currentTime;
                try
                {
                    Thread.Sleep(timeToNextCycle);
                    CycleCounter++;
                    Cycle();
                } catch (Exception e)
                {
                    Logging.Log(e);
                }
            }

            Shutdown();
        }

        public void Dispose()
        {
            Controller?.Remove(this);
        }
    }
}