private void ThreadLoop(object arg)
{
var portName = (string)arg;
_serialPort = new SerialPort
{
PortName = portName,
BaudRate = 19200,
Parity = Parity.None,
DataBits = 8,
StopBits = StopBits.One,
Handshake = Handshake.None,
ReadTimeout = 100,
WriteTimeout = 100
};
_serialPort.Open();
if (!Sync())
{
throw new Exception("Unable to sync");
}
Console.WriteLine("Synced");
var newFrame = new InputFrame();
while (true)
{
if (newFrame.Wait <= 0)
{
if (_queuedFrames.TryDequeue(out var queuedFrame))
{
newFrame = queuedFrame;
ApplyFrameToState(newFrame);
_callback?.Invoke(GetStateStr());
var packet = TranslateState(_state);
_serialPort.Write(packet, 0, packet.Length);
}
}
else
{
newFrame.Wait--;
}
var resp = _serialPort.ReadByte();
if (resp == 0x92)
{
Console.Error.WriteLine("NACK");
if (!Sync())
{
throw new Exception("Unable to sync after NACK");
}
}
else if (resp != 0x90)
{
// Unknown response
}
}
}
public void KeepAlive()
{
while (Program.botRunning)
{
if (newFrame.Wait <= 0)
{
if (_queuedFrames.TryDequeue(out var queuedFrame))
{
newFrame = queuedFrame;
ApplyFrameToState(newFrame);
_callback?.Invoke(GetStateStr());
var packet = TranslateState(_state);
_serialPort.Write(packet, 0, packet.Length);
}
}
else
{
newFrame.Wait--;
Reset();
}
try
{
var resp = _serialPort.ReadByte();
if (resp == 0x92)
{
Console.Error.WriteLine("NACK");
if (!Sync())
{
throw new Exception("Unable to sync after NACK");
}
}
else if (resp != 0x90)
{
// Unknown response
}
}
catch
{
Program.form.ApplyLog("Connection lost!");
Program.botConnected = false;
Program.botRunning = false;
}
Thread.Sleep(10);
}
_serialPort.Dispose();
_serialPort.Close();
Program.form.UpdateStatus("Disconnected!");
Program.form.UpdateUSBDisplay(false);
}
private void UpdateInner()
{
ComputeFft();
OnUpdateCallback?.Invoke();
}
private void UpdateInner()
{
UpdatePlots();
OnUpdateCallback?.Invoke();
}
