async与await初步应用

最新推荐文章于 2025-09-09 02:43:02 发布

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最新推荐文章于 2025-09-09 02:43:02 发布

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原文链接：http://www.cnblogs.com/LongHuaiYu/p/10064093.html

本文介绍了一个使用C#实现的伺服电机控制示例，通过异步任务来监测伺服电机是否到达指定位置，并在超时情况下返回失败状态。示例中包括了伺服电机的启动、位置检查及调试功能。






using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace WindowsFormsApplication1
{
    public partial class Form2 : Form
    {

        class Servo
        {
            bool bIsInPosi = false;

            public void StartMove()
            {
                this.bIsInPosi = false;
            }

            public bool IsInPosi()
            {
                return this.bIsInPosi;
            }


            public void Debug_InPosi()
            {
                this.bIsInPosi = true;
            }
        }


        Servo testServo = new Servo();


        public Form2()
        {
            InitializeComponent();
        }

        private void Form2_Load(object sender, EventArgs e)
        {

        }

        async private void btnStartMove_Click(object sender, EventArgs e)
        {
            Debug.WriteLine(DateTime.Now.ToString("HH:mm:ss.fff") + "    " + "运动开始");
            testServo.StartMove();
            bool bResult = await IsFinish();
            Debug.WriteLine(DateTime.Now.ToString("HH:mm:ss.fff") + "    " + "运动结束了，结果=" + bResult.ToString());
        }

        async Task<bool> IsFinish()
        {
            int timeOutSeconds = 10;
            DateTime dtStart = DateTime.Now;
            bool loop = true;

            while (loop)
            {
                await Task.Delay(100);

                if (testServo.IsInPosi())
                {
                    return true;
                }


                TimeSpan ts = DateTime.Now - dtStart;
                if (ts.TotalSeconds >= timeOutSeconds)
                {
                    Debug.WriteLine(DateTime.Now.ToString("HH:mm:ss.fff") + "    " + "运动超时了");
                    return false;
                }

            }

            return false;
        }

        private void btnInPosi_Click(object sender, EventArgs e)
        {
            testServo.Debug_InPosi();
        }
    }
}