uraxisdaemon/src/main/java/at/acdp/urweb/PosThread.java

package at.acdp.urweb;

import at.acdp.urweb.fhpp.IFHMaster;
import at.acdp.urweb.fhpp.Status;
import at.acdp.urweb.rtde.RTDEClient;
import at.acdp.urweb.rtde.packets.RtdeInDataPackage;
import at.acdp.urweb.rtde.packets.RtdeSetupInputs;
import org.slf4j.LoggerFactory;

import java.io.IOException;
import java.util.concurrent.CompletableFuture;

public class PosThread implements Runnable{
    private final static org.slf4j.Logger logger = LoggerFactory.getLogger(PosThread.class);

    private final RTDEClient rtde;
    private final IFHMaster fhm;
    private Thread thread;
    private volatile boolean _running=true;
    public static Status lastStatus;

    public PosThread(RTDEClient r, IFHMaster fhm) {
        this.rtde=r;
        this.fhm=fhm;
    }

    public void start() {
        thread=new Thread(this);
        thread.start();
    }

    @Override
    public void run() {
        try {
            var si=new RtdeSetupInputs()
                    .addVariable("input_int_register_24");
            rtde.request(si);
            while(_running) {
                CompletableFuture<Status> s = fhm.readStatus();
                lastStatus=s.join();
                var pos=new RtdeInDataPackage(si);
                pos.put("input_int_register_24", String.valueOf(lastStatus.istPosition));
                rtde.request(pos);
                Thread.sleep(100);
            }
        } catch (IOException e) {
            e.printStackTrace();
        } catch (InterruptedException e) {
            e.printStackTrace();
        }
    }
}