tbf/TestBenchFramework/BenchControl/Cameras/IdcCamera/Idc100.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Text;
using System.Threading;
using log4net;

namespace TBF.BenchControl.Cameras.IdcCamera
{
	public class Idc100
	{
		private static readonly ILog log = LogManager.GetLogger(typeof(Idc100));

		///
		/// Constants
		///
		const string IdcHomeDir = Program.HomeDir;		/// Contains subdirectory Images/...
		const int MesurementPeriod_Frames = 6;
		const int ParamsSize = 14;
		const int MaxMeasurementsCount = 160000;	/// Enough for +/- 3,5h measurement

        ///
		/// Data marks identifying events
        ///
        enum MARK
        {
		    FALLING = 2000000000,       /// Marks measurement start
		    RISING  = 2000000001,       /// marks measurement end
		    BEGIN   = 2000000002,       /// not used
		    END     = 2000000003,       /// not used
		    DUMMY   = 2000000004
        }

		/// <summary>Version string</summary>
		public string Version { get { return cameraVersionStr; } }
		string cameraVersionStr;		/// IDC100 version, valid after 'Connect'

		/// <summary>
		/// Private fields
		/// </summary>
        int cameraNr;           /// 0-based camera number
        int comPortNr;          /// COM port number
		int baudRate;
		float brightness;		/// Relative brightness 0 .. 1.0f
		string imagesPath;
		Tools.IniUtil commonIni;

		SerialLayer serial;		/// Communications
        Thread workerThread;

        struct Measurement
        {
            public uint timeStamp;
            public int angle;
            public Measurement(uint timeStamp, int angle)
            {
                this.timeStamp = timeStamp;
                this.angle = angle;
            }
        }

        IList<Measurement> measurements;    /// Raw angle measurements obtained by the camera

        int wm_nrBegin;                     /// Measuremnt start mark
        uint wm_timestampBegin;

        int wm_nrEnd;                       /// Measurement end mark
        uint wm_timestampEnd;

        /// <summary>
        /// The angle difference since the start of the measurement operation (the start mark)
        /// </summary>
		public int Pulses
		{
			get
			{
                if (measurements.Count < 1 || wm_nrBegin >= measurements.Count) return 0;
                return measurements[measurements.Count - 1].angle - measurements[wm_nrBegin].angle;
			}
		}

        /// <summary>
        /// The angle difference between the end and the start of the measurement operation
        /// </summary>
        public int TotalPulses
		{
			get
			{
                if (wm_nrBegin >= measurements.Count || wm_nrEnd > measurements.Count || wm_nrBegin > wm_nrEnd) return 0;
                return measurements[wm_nrEnd - 1].angle - measurements[wm_nrBegin].angle;
			}
		}

		int m_initSpeed;


		IdcState _idcState;
        /// 
        IdcState idcState
        {
            get { return _idcState; }
            set
            {
                if (value != _idcState)
                {
                    _idcState = value;
                    TBF.UiBridge.Bridge.OnCameraStateChanged(this,
                        new TBF.UiBridge.CameraStateChangedEventArgs(cameraNr, value));
                }
            }
        }
        /// 
        public IdcState IdcState { get { return _idcState; } }


		string m_errorStr;				/// last camera error string
		RetVal m_lastError;				/// last error (either host or camera)								

		/// On program exit the control sets these events to avoid deadlocks
		AutoResetEvent workerCommandEvent;
		AutoResetEvent workerEvent;

		IWorkerCmd workerCmd;
		RetVal	workerResponse;


		/// <summary>
		/// Constructor
		/// </summary>
		/// <param name="name">Camera name = 'Images' subdirectory name)</param>
		/// <param name="comPortNr">Com port number 1..999</param>
		/// <param name="baudRate">Baud rate 57600 or 115200</param>
		/// <param name="brightness">Relative brightness 0..1.0f</param>
		public Idc100(string name, int cameraNr, int comPortNr, int baudRate, float brightness)
		{
			this.comPortNr = comPortNr;
			this.baudRate = baudRate;
			this.brightness = brightness;
            this.cameraNr = cameraNr;
			m_initSpeed = 0;

			/// Read the rest of parameters from INI-files
			this.commonIni = new Tools.IniUtil(IdcHomeDir + "config\\common.ini");

			/// Create SerialLayer instance
			imagesPath = string.Format("{0}Images\\{1}\\", IdcHomeDir, name);
			Directory.CreateDirectory(imagesPath);
			serial = new SerialLayer(cameraNr, comPortNr, baudRate, 2000, imagesPath);

			/// Initialize the rest
            measurements = new List<Measurement>();

            wm_nrBegin = 0;
            wm_nrEnd = 0;
            wm_timestampBegin = 0;
            wm_timestampEnd = 0;

			m_lastError = RetVal.OK;

			idcState = IdcState.NotConnected;
			workerCmd = null;
			workerResponse = 0;
			workerCommandEvent = new AutoResetEvent(false);
			workerEvent = new AutoResetEvent(false);

			//ExecuteIdcIniFile();
		}


		public RetVal StartOp(IWorkerCmd workerCmd)
		{
			IdcState[] iniStates;
			IdcTransition[] sTransTbl;

			///------------------------------------ Connection state ------------------------------------
			if (workerCmd is Command.Connect)
			{
                m_lastError = Connect((workerCmd as Command.Connect).TimeoutMs);
                return m_lastError;
			}
			else if (workerCmd is Command.Disconnect)
			{
				iniStates = new IdcState[] { IdcState.Idle, IdcState.Busy, IdcState.OpCompleted, IdcState.OpFailed };
				sTransTbl = new IdcTransition[] { new IdcTransition(RetVal.SequenceError, IdcState.Unchanged),
												  new IdcTransition(RetVal.FatalError,    IdcState.Unchanged),
												  new IdcTransition(RetVal.OK,            IdcState.NotConnected), };
				serial.m_disconnecting = true;
				serial.UnlockLastRead();					/// Quit infinite fifo.Get() waiting for a character in read FIFO
				RetVal retv = IssueThreadCmd(workerCmd, iniStates, sTransTbl);

				if (retv == RetVal.SequenceError)
					return m_lastError = RetVal.OK;			/// Camera was not connected - OK
				else
					return m_lastError = retv;
			}
			else if (idcState == IdcState.NotConnected)
			{
				/// connection must be established for all remaining operations
				return (m_lastError = RetVal.CameraNotConnected);
			}

			///------------------------------------ Other operations ------------------------------------

			if (workerCmd is Command.Detect || workerCmd is Command.Measure || workerCmd is Command.Stream)
			{
				///
				/// Long lasting (start/stop) operations state transition table
				///
				iniStates = new IdcState[] { IdcState.Idle };
				sTransTbl = new IdcTransition[] { new IdcTransition(RetVal.Busy,     IdcState.Busy),
												  new IdcTransition(RetVal.OpFailed, IdcState.OpFailed),
												  new IdcTransition(RetVal.OK,       IdcState.Busy), };
			}
			else
			{
				///
				/// Immediate operations state transition table
				///
				iniStates = new IdcState[] { IdcState.Idle };
				sTransTbl = new IdcTransition[] { new IdcTransition(RetVal.Busy, IdcState.Busy),
												  new IdcTransition(RetVal.OK,   IdcState.Idle), };
			}

			m_lastError = IssueThreadCmd(workerCmd, iniStates, sTransTbl);
			return m_lastError;
		}


		public RetVal StopOp()
		{
			IdcState[] iniStates = new IdcState[] { IdcState.Busy,
													IdcState.OpCompleted,
													IdcState.OpFailed };

			IdcTransition[] sTransTbl = new IdcTransition[] { new IdcTransition(RetVal.SequenceError, IdcState.Unchanged),
															  new IdcTransition(RetVal.OK,            IdcState.Idle)
															};

			return m_lastError = IssueThreadCmd(new Command.StopOp(), iniStates, sTransTbl);
		}


		//---------------------------------------------------------------------
		// Connect
		//		Starts the worker thread, opens the COM-port and establishes
		//		communication with the camera.
		// Returns:
		//		0 = OK
		//		RetVal.SEQUENCE_ERROR ....... camera was already connected, etc
		//		RetVal.INVALID_COMPORT_NR ... invalid COM-port number
		//		RetVal.CANNOT_INIT_CAMERA ... when worker thread cannot be started
		//		RetVal.CANNOT_OPEN_COMPORT ... cannot open COM-port
		//		RetVal.CANNOT_SET_COMPORT_PARAMETERS ... cannot set comm. parameters
		//		RetVal.COMM_TIMEOUT ... comm. timeout when establishing a connection
		//		RetVal.UNKNNOWN_COMM_ERROR ... other less common comm. error
		//---------------------------------------------------------------------
		RetVal Connect(int timeoutMs)
		{
			lock (serial)
			{
				if (idcState != IdcState.NotConnected) return RetVal.SequenceError;     /// Command sequence error
				if (comPortNr == 0) return RetVal.InvalidComPortNr;

                /// Start the worker thread
                workerThread =  new Thread(new ThreadStart(Worker));
                workerThread.Start();

                if (workerEvent.WaitOne(timeoutMs))
                {
                    if (workerResponse == RetVal.OK)
                    {
                        idcState = IdcState.Idle;
                        return RetVal.OK;						/// Intro part completed OK in time, thread is running OK
                    }
                    else
                    {
                        return workerResponse;					/// Return the code from the thread
                    }
                }

                return RetVal.CommTimeout;                      /// Timeout
			}
		}
		
		///------------------------------------------------------------------------------
		/// Used to issue command to the worker thread
		/// Arguments:
		///		threadCmd ... thread command (definend in enum in Common.h)
		///		expectedStates ...  = NULL ... do not check current state
		///							= {state1, state2, ..., 0} ... check if current
		///							  state is one of states in the zero terminated arary
		///		stateTransitionTable= {{resp1,state1},{resp2,state2}, ... ,{RetVal.OK,defaultState}}
		///							(!!! last item must be {RetVal.OK,defaultState})
		/// Returns:
		///		workerResponse (error code in case of an error)
		///------------------------------------------------------------------------------
		RetVal IssueThreadCmd(IWorkerCmd workerCmd, IdcState[] expectedStates, IdcTransition[] stateTransitionTable)
		{
			lock (serial)
			{
				/// Check the initial state
				if (idcState == IdcState.NotConnected || expectedStates == null)
				{
					return RetVal.SequenceError;		/// Camera is not connected or expexted states missing
				}
				///
				bool isInExpectedState = false;
				foreach (var expextedState in expectedStates)
				{
					if (idcState == expextedState) isInExpectedState = true;
				}
				if (!isInExpectedState)
				{
					return RetVal.SequenceError;		/// Camera is not in any of the expected states
				}

				/// Issue thread comand and wait for a response
				workerResponse = 0;
				this.workerCmd = workerCmd;
				workerCommandEvent.Set();
				workerEvent.WaitOne();

				/// Change the state depending on the response
				if (stateTransitionTable != null)
				{
					foreach (var item in stateTransitionTable)
					{
						if (item.RetVal == workerResponse)
						{
							if (item.NewState != IdcState.Unchanged) idcState = item.NewState;
							break;
						}
					}
				}

				return workerResponse;
			}
		}

        /// <summary>
        /// Shut down Idc100 operation, stop the worker thread.
        /// </summary>
        public void ShutDown()
        {
            if (workerThread != null) workerThread.Join();
        }

		void Worker()
		{
			//-------------------------------------------------------------------
			// Introductory part: 'Connect' operation waits until it is completed
			//-------------------------------------------------------------------

			/// Open the COM-port and set communication parameters
			workerResponse = serial.OpenPort();

			/// Verify connection and get version
			if (RetVal.OK == workerResponse && RetVal.OK != serial.GetVer(out cameraVersionStr))
			{
				serial.ClosePort();
				workerResponse = RetVal.CannotCommWithCamera;
			}

			/// Signal intro is finished, return on error
			workerEvent.Set();

			if (workerResponse != RetVal.OK) return;			/// Thread halted on error

			//--------------------------------------------------
			// Worker thread loop
			//--------------------------------------------------
			string cmd;
			RetVal retv;
			int iretv;

			while (true)
			{
				workerCommandEvent.WaitOne();

				//-------------------------------------------------------------------------------------------
				if (workerCmd is Command.Disconnect)
				{
					// Disconnect camera: close the com-port and exit worker thread
					serial.ClosePort();
					workerResponse = RetVal.OK;
					workerEvent.Set();
					return;
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.StopOp)
				{
					// StopOp() when camera is idle -> do nothing
					workerResponse = RetVal.OK;
					workerEvent.Set();
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.StartNew)
				{
					// Format:
					//		startnew
					// Issues command(s):
					//		startnew
					//		settime <year> <month> <date> <hour> <min> <sec>
					byte znak;
    				int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

					serial.WriteString("startnew\r\n");

					workerResponse = RetVal.Busy;	// state -> State.CAMERA_BUSY
					workerEvent.Set();

					// Returns:
					//		WAIT_OBJECT_0 ... WorkerCommand.STOP_OP received
					//		WAIT_TIMEOUT .... time expired, no WorkerCommand.STOP_OP received

					while (true)
					{
						if (workerCommandEvent.WaitOne(6000))
						{
							/// Signal received
							if (workerCmd is Command.StopOp)
							{
								workerResponse = RetVal.OpInterrupted;
								break;
							}
						}
						else
						{
							/// Timeout
							workerResponse = RetVal.OK;
							break;
						}
					}

					if (workerResponse == RetVal.OK)
					{
						do {
							retv = serial.ReadByte(out znak);
						}
						while (znak != '$');	// read all characters in the buffer

   						serial.WriteString("connect\r\n");

						if      (RetVal.OK != serial.ReadByte(out znak) || znak != 'V')	 workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '\r') workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '\n') workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '$')	 workerResponse = RetVal.OpFailed;
						else															 workerResponse = RetVal.OK;
					}

					if (workerResponse == RetVal.OK)
					{
						/// settime
						DateTime now = DateTime.Now;
						string settimeStr = String.Format("settime {0} {1} {2} {3} {4} {5} {6}\r\n",
											now.Year, now.Month, now.Day, now.Hour, now.Minute, now.Second, now.Millisecond);
   						serial.WriteString(settimeStr);

						if		(RetVal.OK != serial.ReadByte(out znak) || znak != '>')	  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != ' ')   workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '0')	  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != ' ')	  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != 'O')	  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != 'K')	  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '\r')  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '\n')  workerResponse = RetVal.OpFailed;
						else if (RetVal.OK != serial.ReadByte(out znak) || znak != '$')	  workerResponse = RetVal.OpFailed;
						else															  workerResponse = RetVal.OK;
					}

                    /// Verify connection and get version
                    if (RetVal.OK == workerResponse && RetVal.OK != serial.GetVer(out cameraVersionStr))
                    {
                        serial.ClosePort();
                        workerResponse = RetVal.CannotCommWithCamera;
                        workerEvent.Set();
                        continue;
                    }

					WT_SSOp_Complete(workerResponse);

					workerResponse = RetVal.OK;
					workerEvent.Set();
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.SetBrightness)
				{
					Command.SetBrightness args = workerCmd as Command.SetBrightness;

					/// Set image brightness
    				///		Format:  setbright 0..100
					///		Example: setbright 50
					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

					iretv = serial.CommandInt(string.Format("setbright {0}\r\n", Math.Max(0, Math.Min((int)(100.0f * args.Brightness), 100))),
											  out received, 1, out m_errorStr);

					workerResponse = (iretv <= 0 || received[0] < 0) ? RetVal.OpFailed : RetVal.OK;
					workerEvent.Set();
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.Grab)
				{
					Command.Grab args = workerCmd as Command.Grab;

					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

                    iretv = serial.CommandInt(string.Format("setbright {0}\r\n", Math.Max(0, Math.Min((int)(100.0f * args.Brightness), 100))),
                                              out received, 1, out m_errorStr);
                    if (iretv <= 0 || received[0] < 0)
                    {
                        workerResponse = RetVal.OpFailed;
                        workerEvent.Set();
                        continue;
                    }


                    iretv = serial.CommandInt(String.Format("new matbyte snap({0},{1}) vecint iroi(5)\r\n", args.W, args.H),
											  out received, 1, out m_errorStr);
					if (iretv<=0 || received[0] < 0)
					{
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}


					iretv = serial.CommandInt(String.Format("set iroi {0} {1} {2} {3} {4}\r\n",
															args.X, args.Y, args.W, args.H, args.Scale),
											  out received, 1, out m_errorStr);
					if (iretv<=0 || received[0] < 0)
					{
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}

					// grab
					iretv = serial.CommandInt(String.Format("grab snap iroi\r\n"),
											  out received, 1, out m_errorStr);
					if (iretv <= 0 || received[0] < 0)
					{
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}

					// save
					string fmtStr = (args.Format == FileFormat.Bmp) ? "bmp" : ( (args.Format == FileFormat.Jpeg) ? "jpg" : "idc");
					cmd = string.Format("save {0} snap {1}\r\n", fmtStr, args.FileName);
					iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
					workerResponse = (iretv <= 0 || received[0] < 0) ? RetVal.OpFailed : RetVal.OK;
					workerEvent.Set();
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.Save)
				{
					Command.Save args = workerCmd as Command.Save;

					string fmtStr = (args.Format == FileFormat.Bmp) ? "bmp" : ( (args.Format == FileFormat.Jpeg) ? "jpg" : "idc");
					cmd = string.Format("save {0} {1} {2}\r\n", fmtStr, args.VariableName, args.FileName);

					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode
					iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);

					if (iretv <= 0 || received[0] < 0)
					{
						// NOK
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}
					else if (!args.WaitCompleted)
					{
						// OK and does not wait for completition
						workerResponse = RetVal.OK;
						workerEvent.Set();
						continue;
					}
					else
					{
						// OK, but waits for completition
						workerResponse = RetVal.Busy;        // state -> State.CAMERA_BUSY
						workerEvent.Set();

						while (true)
						{
							Thread.Sleep(200);

							iretv = serial.CommandInt("fiostate\r\n", out received, 1, out m_errorStr);
							if (iretv <= 0 || received[0] <= 0)
							{
                                //m_pWnd->PostMessage(WM_USER, EVENT_OP_COMPLETED+m_cameraNr, 0);        <------- TODO
                                idcState = IdcState.OpCompleted;
                                break;
							}
						}
				
						WT_SSOp_Wait4StopOp(Timeout.Infinite);

						// OK  & completed
						workerResponse = RetVal.OK;
						workerEvent.Set();
					}
				}
				//-------------------------------------------------------------------------------------------
/*
				///---------------------------------------
				/// Releases IDC100  memory allocated by created images and variables
				/// and deletes oroi1 ... oroi9 (complete detection result)
				///		Format:  clear
				///---------------------------------------
				case WorkerCommand.NEW_WM:
					{
						int[] received = new int[1];
						received[0] = 0;				/// OK in debug mode

						iretv = serial.CommandInt("delete -all\r\n", out received, 1, out m_errorStr);
						if (iretv <= 0 || received[0] < 0)
						{
							workerResponse = RetVal.OP_FAILED;
							workerEvent.Set();
							break;
						}

						iretv = serial.CommandInt("new int nrarrows\r\n", out received, 1, out m_errorStr);
						if (iretv<=0 || received[0] < 0)
						{
							workerResponse = RetVal.OP_FAILED;
							workerEvent.Set();
							break;
						}

						iretv = serial.CommandInt(String.Format("set nrarrows {0}\r\n", arrows.GetLength(0) - 1), out received, 1, out m_errorStr);
						if (iretv<=0 || received[0] < 0)
						{
							workerResponse = RetVal.OP_FAILED;
							workerEvent.Set();
							break;
						}

						workerResponse = RetVal.OK;		/// Eventually overwritten in the for loop
						//------
						for (int arwIx = 1; arwIx <= arrows.GetLength(0) - 1; arwIx++)
						{
							cmd = String.Format("new vecfloat params{0}({1}) vecint oroi{0}(5) matshort bkgnd{0}({2},{3}) matbyte detected{0}({4},{5})\r\n",
												arwIx, ParamsSize, (int)(Math.Round(arrows[arwIx].oroi_w)), (int)(Math.Round(arrows[arwIx].oroi_h)),
												arrows[arwIx].iroi_w, arrows[arwIx].iroi_h);
							iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
							if (iretv<=0 || received[0] < 0)
							{
								workerResponse = RetVal.OP_FAILED;
								break;
							}

							cmd = String.Format("set params{0} {1} {2} {3} {4} {5} {6} {7} {8} {9} {10} {11} {12} {13} {14}\r\n",
												arwIx, ParamsSize,
												arrows[arwIx].wmType,
												arrows[arwIx].cx.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].cy.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].oroi_w.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].oroi_h.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].r1.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].r2.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].r3.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].a1.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].a2.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].step_a.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].nom_speed.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
												arrows[arwIx].background_corr);
							iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
							if (iretv <= 0 || received[0] < 0)
							{
								workerResponse = RetVal.OP_FAILED;
								break;
							}

							cmd = String.Format("set oroi{0} 0 0 {1} {2} 1\r\n",
												arwIx, (int)(Math.Round(arrows[arwIx].oroi_w)), (int)(Math.Round(arrows[arwIx].oroi_h)));
							iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
							if (iretv==0 || received[0] < 0)
							{
								workerResponse = RetVal.OP_FAILED;
								break;
							}
						} //for

						workerEvent.Set();
						break;
					}
*/
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.Detect)
				{
					Command.Detect args = workerCmd as Command.Detect;

					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

                    iretv = serial.CommandInt(string.Format("setbright {0}\r\n", Math.Max(0, Math.Min((int)(100.0f * args.Brightness), 100))),
                                              out received, 1, out m_errorStr);
                    if (iretv <= 0 || received[0] < 0)
                    {
                        workerResponse = RetVal.OpFailed;
                        workerEvent.Set();
                        continue;
                    }

					workerResponse = RetVal.Busy;	// state -> State.CAMERA_BUSY
					workerEvent.Set();

					/// Common commands:
					cmd = "delete -ex oroi1 oroi2 bkgnd1 bkgnd2 detected1 detected2\r\n";
					if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
					{
						if (RetVal.OK == (retv = WT_SSOp_FastCmd("loadflash\r\n")))
						{
							cmd = String.Format("new vecfloat params{0}({1}) vecint oroi{0}(5) matshort bkgnd{0}({2},{3}) matbyte detected{0}({4},{5})\r\n",
												args.RoiNr,
												ParamsSize,
												(int)Math.Round(args.ORoiW),
												(int)Math.Round(args.ORoiH),
												args.IRoiW,
												args.IRoiH);
							if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
							{
								cmd = String.Format("set params{0} {1} {2} {3} {4} {5} {6} {7} {8} {9} {10} {11} {12} {13} {14}\r\n",
													args.RoiNr,
													ParamsSize,
													args.WMeterType,
													args.CX.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.CY.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.ORoiW.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.ORoiH.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.R1.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.R2.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.R3.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.Ang1.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.Ang2.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.AngStep.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.NomSpeed.ToString("F2", System.Globalization.CultureInfo.InvariantCulture),
													args.BackgroundCorr);
								if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
								{
									cmd = String.Format("set oroi{0} 0 0 {1} {2} 1\r\n",
														args.RoiNr, (int)Math.Round(args.ORoiW), (int)Math.Round(args.ORoiH));
									if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
									{
										if (args.WMeterType == 0)
										{
											///
											/// wmType==0 commands:
											///
											cmd = String.Format("new vecint iroi{0}(5) periods timestamps cubbyte seq\r\n", args.RoiNr);
											if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
											{
												cmd = String.Format("set iroi{0} {1} {2} {3} {4} 1\r\n",
																	args.RoiNr, args.IRoiX, args.IRoiY, args.IRoiW, args.IRoiH);
												if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
												{
													StringBuilder sb = new StringBuilder(40);
													for (int i = 0; i < args.SequenceLen; i++)
													{
														sb.Append(" ");
														sb.Append((i % 2 == 0) ? "1" : args.SequenceTiming.ToString());
													}
													if (RetVal.OK == (retv = WT_SSOp_FastCmd(String.Format("set periods{0}\r\n", sb.ToString()))))
													{
														cmd = String.Format("grab seq iroi{0} {1} periods timestamps\r\n",
																			args.RoiNr, args.SequenceLen);
														if (RetVal.OK == (retv = WT_SSOp_LongCmd(cmd)))
														{
															switch (args.RoiNr)
															{
																default: retv = 0; break;
																case 2: retv = WT_SSOp_LongCmd_NoTmOut("mask seq iroi2 oroi1\r\n"); break;
																case 3: retv = WT_SSOp_LongCmd_NoTmOut("mask seq iroi3 oroi1 oroi2\r\n"); break;
																case 4: retv = WT_SSOp_LongCmd_NoTmOut("mask seq iroi4 oroi1 oroi2 oroi3\r\n"); break;
															}
															if (RetVal.OK == retv)
															{
																retv = WT_SSOp_LongCmd(String.Format("detect {0} seq periods detected{0}\r\n",
																									 args.RoiNr));

                                                                if (retv == RetVal.OK)
                                                                {
                                                                    // save
                                                                    cmd = string.Format("save jpg detected{0} detected{0}\r\n", args.RoiNr);
                                                                    iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);

                                                                    RetVal retv2 = (iretv <= 0 || received[0] < 0) ? RetVal.OpFailed : RetVal.OK;
                                                                    if (retv2 == RetVal.OpInterrupted) retv = RetVal.OpInterrupted;
                                                                }
                                                            }
														}
													}
												}
											}
										}
										else if (args.WMeterType >= 1)
										{  //
											// wmType==1,2 commands:
											//
											cmd = String.Format("new matfloat homo vecint iroi{0}(5) cubbyte seq cubshort c1 matshort strip lsdbkg digits0\r\n", args.RoiNr);
											if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
											{
												cmd = String.Format("set iroi{0} {1} {2} {3} {4} 1\r\n", args.RoiNr, args.IRoiX, args.IRoiY, args.IRoiW, args.IRoiH);
												if (RetVal.OK == (retv = WT_SSOp_FastCmd(cmd)))
												{
													if (RetVal.OK == (retv = WT_SSOp_LongCmd(String.Format("grab seq iroi{0} 20 11\r\n", args.RoiNr))))
													{
														if (RetVal.OK == (retv = WT_SSOp_LongCmd(String.Format("detect {0} seq 1 detected{0} homo\r\n", args.RoiNr))))
														{
															// time 95s +/- 1.5 turns
															if (RetVal.OK == (retv = WT_SSOp_LongCmd(String.Format("grab c1 oroi{0} 300 7\r\n", args.RoiNr))))
															{
																if (RetVal.OK == (retv = WT_SSOp_LongCmd_NoTmOut(String.Format("mount c1 oroi{0} homo strip lsdbkg 0\r\n", args.RoiNr))))
																{
																	retv = WT_SSOp_LongCmd("getdigits strip digits0\r\n");
																}
															}
														}
													}
												}
											}
										}
									}
								}
							}
						}
					}
					WT_SSOp_Complete(retv);
					workerResponse = RetVal.OK;
					workerEvent.Set();
				}
/*
				case WorkerCommand.VERIFY:
					{
						int[] received = new int[1];
						received[0] = 0;				/// OK in debug mode

						iretv = serial.CommandInt("verify\r\n", out received, 1, out m_errorStr);
						if (iretv <= 0 || received[0] < 0)
						{
							workerResponse = RetVal.OP_FAILED;
							workerEvent.Set();
							break;
						}

						workerResponse = RetVal.BUSY;        // state -> State.CAMERA_BUSY
						workerEvent.Set();
                
						workerResponse = RetVal.OK;
						workerEvent.Set();
						break;
					}
 */
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.Measure)
				{
					Command.Measure args = workerCmd as Command.Measure;

					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

                    iretv = serial.CommandInt(string.Format("setbright {0}\r\n", Math.Max(0, Math.Min((int)(100.0f * args.Brightness), 100))),
                                              out received, 1, out m_errorStr);
                    if (iretv <= 0 || received[0] < 0)
                    {
                        workerResponse = RetVal.OpFailed;
                        workerEvent.Set();
                        continue;
                    }

                    int logLen = 400000 / (int)Math.Round(args.ORoiW) / (int)Math.Round(args.ORoiH);
					if (logLen < 2) logLen = 2;

					if (args.WMeterType == 0)
					{
						cmd = String.Format("new vecint iroi{0}(5) snaptimes(10) cubshort snaps({1},{2},10) log({1},{2},{3}) int shift\r\n",
											args.RoiNr, (int)Math.Round(args.ORoiW), (int)Math.Round(args.ORoiH), logLen);
					}
					else
					{
						cmd = String.Format("new vecint iroi{0}(5) snaptimes(10) cubshort snaps({1},{2},10) lsdlog int shift\r\n",
											args.RoiNr, (int)Math.Round(args.CX), (int)Math.Round(args.CY));		// snaps(cx,cy,10) ... dimensions
					}

					iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
					if (iretv<=0 || received[0] < 0)
					{
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}

					cmd = String.Format("set iroi{0} {1} {2} {3} {4} 1\r\n",
										args.RoiNr, args.IRoiX, args.IRoiY, args.IRoiW, args.IRoiH);
					iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
					if (iretv <= 0 || received[0] < 0)
					{
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}

					/*
					cmd = String.Format("getshift seq iroi{0} shift {1}\r\n", args.RoiNr, 30);
					iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
					if (iretv <= 0 || received[0] < 0)
					{
						workerResponse = RetVal.OpFailed;
						workerEvent.Set();
						continue;
					}
					*/

					if (args.WMeterType == 0 && args.MaxMvmt == 0 && args.MinMvmt == 0)
					{
						///
						/// Std: Uses 'initSpeed'
						///
						cmd = String.Format("task 1 oroi{0} 1 {1} {2} shift snaps snaptimes log {3} params{0} bkgnd{0}\r\n",
											args.RoiNr,
											MesurementPeriod_Frames,
											(args.Triggered ? "1" : "0"),
											logLen);
						serial.FifoFlush();
						serial.WriteString(cmd);		// send command
					}
					else if (args.WMeterType == 0)
					{
						//
						// Introduced in ver.7.6.7:
						// Uses 'maxMvmt' and 'minMvmt', allows faster movement measurement
						//
						cmd = String.Format("task 1 oroi{0} 1 {1} {2} shift snaps snaptimes log {3} params{0} bkgnd{0} {4} {5}\r\n",
											args.RoiNr,
											MesurementPeriod_Frames,
											(args.Triggered ? "1" : "0"),
											logLen,
											args.MaxMvmt,
											args.MinMvmt);
						serial.FifoFlush();
						serial.WriteString(cmd);		// send command
					}
					else if (args.WMeterType >= 1)
					{
						//
						// Digital counters (Dubai)
						//
						cmd = String.Format("task {0} oroi{1} 1 {2} {3} shift snaps snaptimes 0 0 homo digits0 params{1} lsdbkg 36 lsdlog\r\n",
											args.WMeterType + 1,
											args.RoiNr,
											MesurementPeriod_Frames,
											(args.Triggered ? "1" : "0"));
						serial.FifoFlush();
						serial.WriteString(cmd);		// send command
					}
					else
					{
						// ...
					}

					// clear measurement data
                    measurements.Clear();
					wm_nrBegin = 0;
					wm_nrEnd = 0;
					wm_timestampBegin = 0;
					wm_timestampEnd = 0;

					workerResponse = RetVal.Busy;					// state -> State.CAMERA_BUSY
					workerEvent.Set();

					// start reading data
					byte znak;
					bool stopOpReceived = false;
					int  angle;
					uint time;
					while (true)
					{
						// wait for '>' character, check for WorkerCommand.STOP_OP
						do {
							if (!stopOpReceived && WorkerCommand.StopOp == WT_SSOp_Wait4StopOp(5))
							{
								stopOpReceived = true;
								serial.WriteByte((byte)'Q');
							}
							if (RetVal.OK != (retv = serial.ReadByte(out znak)))	/// if ReadByte_C fails => quit the loop ...
							{														/// ... and return negative error code
								break;	
							}
						}
						while (znak != '>');

						if (retv != RetVal.OK) break;								/// communication failed

						/// Read the rest of line
						StringBuilder restOfLine = new StringBuilder();
						while (RetVal.OK == (retv = serial.ReadByte(out znak)) &&
								(znak != (byte)'\r') && (znak != (byte)'\n'))
						{
							restOfLine.Append((char)znak);
						}
						if (retv != RetVal.OK) break;

                        log.InfoFormat("Received: >{0}", restOfLine);

						/// Parse the line, save and send the result
						string[] results = restOfLine.ToString().Split(new char[] { ' ' });
                        if ((results.Length >= 3) && results[1].Equals("0") && results[2].Equals("OK"))
                        {
                            retv = RetVal.OK;           /// Op. successfully completed
                            break;
                        }
                        else if (results.Length < 3 || !UInt32.TryParse(results[1], out time) || !Int32.TryParse(results[2], out angle))
						{
							retv = RetVal.OpFailed;     /// Op. failed
                            log.ErrorFormat("RetVal.OpFailed", restOfLine);
							break;
						}

						if (!stopOpReceived)
						{
							if ((time > 0) && (measurements.Count < MaxMeasurementsCount))
							{
								if (angle == (int)MARK.DUMMY)
								{
									// do nothing
								}
								else if (angle == (int)MARK.FALLING)
								{
                                    wm_nrBegin = measurements.Count;
									wm_timestampBegin = time;
                                    //m_pWnd->PostMessage(WM_USER, EVENT_DATA_READY+m_cameraNr, ID_BEGIN);        <------- TODO
								}
								else if (angle == (int)MARK.RISING)
								{
                                    wm_nrEnd = measurements.Count;
									wm_timestampEnd = time;
                                    //m_pWnd->PostMessage(WM_USER, EVENT_DATA_READY+m_cameraNr, ID_END);        <------- TODO
								}
								else
								{
                                    measurements.Add(new Measurement(time, angle));
                                    //m_pWnd->PostMessage(WM_USER, EVENT_DATA_READY+m_cameraNr, wm_nrmeasurements);        <------- TODO
								}
							}
						}
						else if (retv == RetVal.OK && time == 0)
						{
							/// Wait until '$'
							do {
								if (RetVal.OK != (retv = serial.ReadByte(out znak)))	/// if ReadByte_C fails => quit ...
								break; //return -retv;									/// ... the loop and return negative ...
							}															/// ... error code
							while (znak != '$');
							break;
						}
                    }

					if (retv != RetVal.OK && !stopOpReceived)
					{
                        //m_pWnd->PostMessage(WM_USER, EVENT_OP_FAILED+m_cameraNr, 0);        <------- TODO
                        idcState = IdcState.OpFailed;
                        WT_SSOp_Wait4StopOp(Timeout.Infinite);
					}

                    workerResponse = RetVal.OK;
					workerEvent.Set();
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.Other)
				{
					Command.Other args = workerCmd as Command.Other;

					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

					iretv = serial.CommandInt(args.Command + "\r\n", out received, 1, out m_errorStr);
					if (iretv < 0)				workerResponse = (RetVal)(-iretv);
					else if (iretv==0)			workerResponse = RetVal.OpFailed;
					else if (received[0] < 0)	workerResponse = (RetVal)(-received[0]);
					else						workerResponse = RetVal.OK;

					workerEvent.Set();
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.Stream)
				{
					Command.Stream args = workerCmd as Command.Stream;

					int[] received = new int[1];
					received[0] = 0;				/// OK in debug mode

					/// Check the camera file I/O state
					while (true)
					{
						iretv = serial.CommandInt("fiostate\r\n", out received, 1, out m_errorStr);
						if (iretv <= 0)
						{
							workerResponse = RetVal.OpFailed;
							workerEvent.Set();
							continue;
						}
						else if (received[0] == 0)
						{
							break;		/// Continue - start a stream operation
						}
					}

                    iretv = serial.CommandInt(string.Format("setbright {0}\r\n", Math.Max(0, Math.Min((int)(100.0f * args.Brightness), 100))),
                                              out received, 1, out m_errorStr);
                    if (iretv <= 0 || received[0] < 0)
                    {
                        workerResponse = RetVal.OpFailed;
                        workerEvent.Set();
                        continue;
                    }

                    /// Grab one image
					if (args.Type != StreamType.Full)
					{
						iretv = serial.CommandInt("acqimage\r\n", out received, 1, out m_errorStr);
						if (iretv <= 0 || received[0] < 0)
						{
							workerResponse = RetVal.OpFailed;
							workerEvent.Set();
							continue;
						}
					}

					/// Prepare the camera command string
					if (args.Format == FileFormat.Bmp)
					{
						if (args.Type == StreamType.SubSampled) cmd = "streamssdbmp\r\n";
						else if (args.Type == StreamType.Focus) cmd = "streamroibmp\r\n";
						else cmd = "streambmp\r\n";
					}
					else if (args.Format == FileFormat.Jpeg)
					{
						if (args.Type == StreamType.SubSampled) cmd = "streamssdjpg\r\n";
						else if (args.Type == StreamType.Focus) cmd = "streamroijpg\r\n";
						else cmd = "streamjpg\r\n";
					}
					else
					{
						workerResponse = RetVal.OK;
						workerEvent.Set();
						continue;
					}

					/// Start streaming
					iretv = serial.CommandInt(cmd, out received, 1, out m_errorStr);

					if (iretv >= 1 && received[0] == 0)
					{
						workerResponse = RetVal.Busy;		// state -> State.CAMERA_BUSY
						workerEvent.Set();

						WorkerCommand wrkCmd = WT_SSOp_Wait4StopOp(Timeout.Infinite);

						/// Stop streaming
						iretv = serial.CommandInt("stopstream\r\n", out received, 1, out m_errorStr);
						if (iretv >= 1 && received[0] == 0)
						{
							workerResponse = RetVal.OK;		// state -> State.CAMERA_IDLE
							workerEvent.Set();
						}
						if (wrkCmd != WorkerCommand.StopOp)
						{
							WT_SSOp_Wait4StopOp(Timeout.Infinite);
							workerResponse = RetVal.OK;		// state: State.CAMERA_OP_COMPLETED -> State.CAMERA_IDLE or 
							workerEvent.Set();
						}
					}
					else
					{
						/// Streaming was not started, return error and wait for StopOp
						workerResponse = RetVal.OpFailed;		// state -> State.CAMERA_OP_FAILED
						workerEvent.Set();

						WT_SSOp_Wait4StopOp(Timeout.Infinite);

						workerResponse = RetVal.OK;		// state -> State.CAMERA_IDLE
						workerEvent.Set();
					}
				}
				//-------------------------------------------------------------------------------------------
				else if (workerCmd is Command.StopStream)
				{
					Command.StopStream args = workerCmd as Command.StopStream;
				}
			} // end while (true)
		}
		
		//---------------------------------------------------------------------
		// Sends command and waits for a response.
		//
		// Arguments:
		//		cmd ........ command
		// Returns:
		//		long ... 0                = command completed OK, error code=0
		//               1...999          = command completed with an error code
		//				 RetVal.OP_INTERRUPTED = StopOp was received by the OCX component
		//               1000...          = camera error (communication timeout ?)
		//---------------------------------------------------------------------
		RetVal WT_SSOp_FastCmd(string cmd)
		{
			if (WorkerCommand.StopOp == WT_SSOp_Wait4StopOp(1))
			{
				return RetVal.OpInterrupted;	/// This error code has the priority to avoid deadlocks
			}

			int[] received = new int[1];
			received[0] = 0;					/// OK in debug mode

			/// Send a command that cannot be interrupted via 'Q'
			int readByteRetv = serial.CommandInt(cmd, out received, 1, out m_errorStr);
	
			if (readByteRetv<0) return (RetVal)(-readByteRetv);	/// possibly a camera timeout

			return (RetVal)(-received[0]);						/// <--- normal return from the operation
		}

		//---------------------------------------------------------------------
		// Sends command and waits for "> 'received' 'string'" or sends 'Q'
		// after  CMD_STOP_OP. Then waits for a prompt '$'.
		// Waits until '>' is received.
		//
		// Arguments:
		//		cmd ........ command
		// Returns:
		//		long ... 0                = command completed OK, error code=0
		//               1...999          = command completed with an error code
		//				 RetVal.OP_INTERRUPTED = StopOp was received by the OCX component
		//               1000...          = camera error (communication timeout ?)
		//---------------------------------------------------------------------
		RetVal WT_SSOp_LongCmd(string cmd)
		{
			/// Send the command
			serial.FifoFlush();
			serial.WriteString(cmd);

			RetVal readByteRetv;
			byte znak;

			/// When WorkerCommand.STOP_OP arrives, 'Q' character is sent to abort the operation.
			/// Then the loop still waits until '>' is received.
			bool stopOpReceived = false;
			do {
				if (!stopOpReceived && WorkerCommand.StopOp == WT_SSOp_Wait4StopOp(5))
				{
					/// send 'Q' if CMD_STOP_OP worker thread command is received
					stopOpReceived = true;
					serial.WriteByte((byte)'Q');
				}

				if (RetVal.OK != (readByteRetv = serial.ReadByte(out znak))) break;
				/// if ReadByte_C fails quit the loop and return negative error code
			}
			while (znak != (byte)'>');

			if (stopOpReceived) return RetVal.OpInterrupted;		/// StopOp: This error code has the priority to avoid deadlocks
			if (readByteRetv != RetVal.OK) return readByteRetv;		/// Possibly a camera communication timeout

			/// Read a line of text from IDC terminated by '\r' (and '\n')
			StringBuilder tmp = new StringBuilder();
			do
			{
				if (RetVal.OK != (readByteRetv = serial.ReadByte(out znak))) break;
				if (znak == (byte)'\r') break;
				tmp.Append((char)znak);
			}
			while (true);

            log.InfoFormat("{0}: Received: >{1}", cameraNr, tmp);

			if (readByteRetv != RetVal.OK) return readByteRetv;		/// Return on error

			/// Parse the line after '>'.
			/// Read two fields: Return code and the rest of the line.
			const int maxArrayLen = 3;
			string[] strArray = tmp.ToString().Split(new char[] {' '}, maxArrayLen);
			///
			if (strArray.Length < 3) return RetVal.CommError;		/// Unexpected format, there should be at least 2 strings
			///
			int negativeIdcReturnCode;
			if (!Int32.TryParse(strArray[1], out negativeIdcReturnCode))
            {
                return RetVal.CommError;
            }
            else if (negativeIdcReturnCode < 0)
            {
                m_errorStr = strArray[2];
            }

			/// Read characters until '$' received
			do {
				if (0 != (readByteRetv = serial.ReadByte(out znak))) break;
			}
			while (znak != '$');

			if (readByteRetv != RetVal.OK) return readByteRetv;		/// Possibly a camera communication timeout

			return (RetVal)(-negativeIdcReturnCode);					/// Normal return from the operation
		}

		//----------------------------------------------------------------------------
		// Sends command and waits for "> 'received' 'string'" or sends 'Q'
		// after  CMD_STOP_OP. Then waits for a prompt '$'.
		//
		// Arguments:
		//		cmd ........ command
		// Returns:
		//		long ... 0                = command completed OK, error code=0
		//               1...999          = command completed with an error code
		//				 RetVal.OP_INTERRUPTED = StopOp was received by the OCX component
		//               1000...          = camera error (communication timeout ?)
		//----------------------------------------------------------------------------
		RetVal WT_SSOp_LongCmd_NoTmOut(string cmd)
		{
			/// Send the command
			serial.FifoFlush();
			serial.WriteString(cmd);		

			RetVal readByteRetv;
			byte znak;

			/// When WorkerCommand.STOP_OP arrives, 'Q' character is sent to abort the operation.
			/// Then the loop still waits until '>' is received.
			bool stopOpReceived = false;
			do {
				if (!stopOpReceived && WorkerCommand.StopOp == WT_SSOp_Wait4StopOp(5))
				{
					// send 'Q' if CMD_STOP_OP worker thread command is received
					stopOpReceived = true;
					serial.WriteByte((byte)'Q');
				}
				readByteRetv = serial.ReadByte(out znak);	/// Do not quit the loop on timeout (???)
			}
			while (znak != '>');

			if (stopOpReceived) return RetVal.OpInterrupted;		/// StopOp: This error code has the priority to avoid deadlocks
			if (readByteRetv != RetVal.OK) return readByteRetv;		/// Possibly a camera communication timeout

			/// Read a line of text from IDC terminated by '\r' (and '\n')
			StringBuilder tmp = new StringBuilder();
			do
			{
				if (RetVal.OK != (readByteRetv = serial.ReadByte(out znak))) break;
				if (znak == (byte)'\r') break;
				tmp.Append((char)znak);
			}
			while (true);

			if (readByteRetv != RetVal.OK) return readByteRetv;		/// Return on error

			/// Parse the line after '>'.
			/// Read two fields: Return code and the rest of the line.
			const int maxArrayLen = 2;
			string[] strArray = tmp.ToString().Split(new char[] { ' ' }, maxArrayLen);
			///
			if (strArray.Length < 2) return RetVal.OpFailed;		/// Unexpected format, there should be at least 2 strings
			///
			int negativeIdcReturnCode;
			Int32.TryParse(strArray[0], out negativeIdcReturnCode);
			if (negativeIdcReturnCode < 0) m_errorStr = strArray[1];

			/// Read characters until '$' received
			do
			{
				if (0 != (readByteRetv = serial.ReadByte(out znak))) break;
			}
			while (znak != '$');

			if (readByteRetv != RetVal.OK) return readByteRetv;		/// Possibly a camera communication timeout

			return (RetVal)(-negativeIdcReturnCode);					/// Normal return from the operation
		}

		//---------------------------------------------------------------------
		// Sends OP_COPMPETED / OP_FAILED message and waits for StopOp.
		//
		// Arguments:
		//		errorCode ... RetVal.OP_INTERRUPTED, !!!do not issue any message anymore
		//                    < 1000 command line response (number after >), or
		//                    >=1000 error code (camera timeout, etc.)
		// Returns:
		//		long ........ 0 = OK ... 'received' is valid
		//                    RetVal.COMM_TIEMOUT
		//---------------------------------------------------------------------
		void WT_SSOp_Complete(RetVal errorCode)
		{
			if (errorCode == RetVal.OpInterrupted) return;

			// Send an appropriate message to the control
			if (errorCode == RetVal.OK)
			{
				//m_pWnd->PostMessage(WM_USER, EVENT_OP_COMPLETED+m_cameraNr, 0);        <------- TODO
                idcState = IdcState.OpCompleted;
			}
			else
			{
                //m_pWnd->PostMessage(WM_USER, EVENT_OP_FAILED+m_cameraNr, -errorCode);  <------- TODO
                idcState = IdcState.OpFailed;
            }

			// Wait for StopOp
			WT_SSOp_Wait4StopOp(Timeout.Infinite);
		}

		/** ------------------------------------------------------------------------------
		 * Waits for CMD_STOP_OP command. Other commands are ignoerd.
		 *
		 * Arguments:
		 *		ms .............. timeout in ms or INFINITE (default)
		 * Returns:
		 *		WorkerCommand.STOP_OP ... STOP_OP received
		 *		WorkerCommand.Timeout ... time expired, no STOP_OP received
		 * ------------------------------------------------------------------------------- */
		WorkerCommand WT_SSOp_Wait4StopOp(int timeoutMs)
		{
			while (true)
			{
				if (workerCommandEvent.WaitOne(timeoutMs))
				{
					if (workerCmd is Command.StopOp) return WorkerCommand.StopOp;
				}
				else
				{
					return WorkerCommand.Timeout;
				}
			}
		}
	}
}