public async Task Loop()
{
string errMsg = string.Empty;
BoardStatus oldStatus = null, latestStatus;
if (!TestBoard(_config.PortName, ref _ic, ref version, ref errMsg))
{
AppLog.Error("{0}. {1}", "Connect to board fail", errMsg);
await Task.Delay(ERROR_DELAY);
return;
}
PrintBoardInfo(_ic, version);
AppLog.Info("Authenticating...");
_jwt = await Login(_ic, _config.Secret);
AppLog.Info("Authenticated");
await Subscribe(_jwt);
while (true)
{
latestStatus = ReadBoardStatus(ref errMsg);
if (latestStatus is null || !string.IsNullOrEmpty(errMsg))
{
AppLog.Error("{0}. {1}", "Can't read board's status", errMsg);
break;
}
if (latestStatus != oldStatus)
{
Console.WriteLine("Previous status:");
Console.WriteLine(oldStatus);
Console.WriteLine("New status:");
Console.WriteLine(latestStatus);
SendStatus(latestStatus);
oldStatus = latestStatus;
}
if (IsCommandAvailable())
{
lock (CommandsQueue)
{
var safe = CommandsQueue.Dequeue();
if (!ExecuteCommand(safe, ref errMsg))
{
AppLog.Error("{0}. {1}", "Execute command fail", errMsg);
}
else
{
AppLog.Info("Opened Safe:{0}", safe);
}
}
}
await Task.Delay(LOOP_DELAY);
}
}
private void Bw_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = sender as BackgroundWorker;
while (true)
{
if (bw.CancellationPending)
{
break;
}
Thread.Sleep(5);
//如果没有指令，继续等待
if (CommandsQueue.Count == 0)
{
Thread.Sleep(50);
continue;
}
//从队列中将指令取出
CommandInfo info = CommandsQueue.Dequeue() as CommandInfo;
string value = info.Command.Trim('\0');
//SetValue(value, info.Client.Client);
//如果设备未连接，通知客户端
if (testDevice == null || !testDevice.IsOpen)
{
ServerResultMessage _ServerResultMessage = new ServerResultMessage()
{
CommandType = CommandType.None,
ResultCode = ResultCode.fail,
Data = "device is disconnect.",
};
SendData(info, JsonConvert.SerializeObject(_ServerResultMessage));
Thread.Sleep(1000);
continue;
}
ResetType result = ResetType.None;
Start:
try
{
Command(value, info);
}
catch (MotorException ex)
{
Loghelper.WriteLog("发送指令:", ex);
switch (result)
{
case ResetType.None:
lock (deviceLock)
result = device.ResetComUSB();
if (result == ResetType.USBSuccess || result == ResetType.Success)
{
goto Start;
}
break;
case ResetType.USBSuccess:
lock (deviceLock)
result = device.ResetCom();
if (result == ResetType.Success)
{
goto Start;
}
break;
case ResetType.Error:
break;
}
}
catch (Exception ex)
{
Loghelper.WriteLog("下发错误", ex);
ServerResultMessage _ServerResultMessage = new ServerResultMessage()
{
CommandType = CommandType.None,
ResultCode = ResultCode.fail,
Data = ex.Message,
};
SendData(info, JsonConvert.SerializeObject(_ServerResultMessage));
}
//SetValue(string.Format("队列还剩【{0}】条指令未下发", CommandsQueue.Count), null);
}
}