public boolean calibrateTopCamera() {
boolean res = false;
if (connection.isConnected()) {
if ((getStatus() & Status.CALIBRATION_ARM_L_DOWN.getValue()) > 0) {
res = setMode(Mode.EXPOSITION_WITH_CALIBRATION_LIGHTS.getValue());
}
}
return res;
}
public boolean calibrationStartWait() {
if (connection.isConnected()) {
for (int i = 0; i < PlcConstants.LONG_ITERATIONS; i++) {
try {
Thread.sleep(PlcConstants.LONG_SLEEP_TIME);
} catch (InterruptedException e) {
e.printStackTrace();
}
boolean topCalibArmDown = (getStatus() & Status.CALIBRATION_ARM_L_DOWN.getValue()) > 0;
boolean frontCalibArmDown = (getStatus() & Status.CALIBRATION_ARM_D_DOWN.getValue()) > 0;
if (topCalibArmDown && frontCalibArmDown) {
return true;
}
}
}
return false;
}