/// <summary>
/// Start the timer
/// </summary>
private void StartTimer(int tickInterval)
{
// if no baseline state has been established, do it now
if (_hardwareState == null)
{
_hardwareState = (irobottypes.RoombaState)_state.Clone();
}
if (_tickInterval != tickInterval)
{
_tickInterval = tickInterval;
}
if (_nextTimer == DateTime.MaxValue)
{
_nextTimer = DateTime.Now.AddMilliseconds(_tickInterval);
Activate(Arbiter.Receive(false, TimeoutPort(_tickInterval), TimerHandler));
}
else
{
// skip any backlog of timer events
_nextTimer = DateTime.Now.AddMilliseconds(_tickInterval);
// Don't need to activate because there is still a pending receive.
}
}
/// <summary>
/// The Timer Handler fires every _tickInterval milliseconds
/// </summary>
/// <param name="time"></param>
private void TimerHandler(DateTime time)
{
// Stop the timer if we are shutting down
if (_state.Mode == irobottypes.RoombaMode.Shutdown)
{
return;
}
// ignore timer if the Create is not initialized.
if (_state.Mode == irobottypes.RoombaMode.Uninitialized)
{
WaitForNextTimer();
return;
}
// Is Polling turned off?
if (_state.PollingInterval < 0)
{
WaitForNextTimer();
return;
}
LogVerbose(LogGroups.Console, "Timer: Starting query");
bool dataChanged = false;
UpdateHardwareStateFromEntity(_hardwareState);
// check each block of state for differences
if (StateIsDifferent(_hardwareState.Pose, _state.Pose))
{
SendNotification <irobotupdates.UpdatePose>(_subMgrPort, _hardwareState.Pose);
dataChanged = true;
}
if (StateIsDifferent(_hardwareState.Sensors, _state.Sensors))
{
SendNotification <irobotupdates.UpdateBumpsCliffsAndWalls>(_subMgrPort, _hardwareState.Sensors);
dataChanged = true;
}
if (StateIsDifferent(_hardwareState.Power, _state.Power))
{
SendNotification <irobotupdates.UpdatePower>(_subMgrPort, _hardwareState.Power);
dataChanged = true;
}
if (StateIsDifferent(_hardwareState.CliffDetail, _state.CliffDetail))
{
SendNotification <irobotupdates.UpdateCliffDetail>(_subMgrPort, _hardwareState.CliffDetail);
dataChanged = true;
}
if (dataChanged)
{
_state = _hardwareState;
_hardwareState = (irobottypes.RoombaState)_state.Clone();
}
else
{
_state.LastUpdated = _hardwareState.LastUpdated;
_state.Pose.Timestamp = _hardwareState.Pose.Timestamp;
_state.Power.Timestamp = _hardwareState.Power.Timestamp;
_state.Sensors.Timestamp = _hardwareState.Sensors.Timestamp;
_state.CliffDetail.Timestamp = _hardwareState.CliffDetail.Timestamp;
_state.Telemetry.Timestamp = _hardwareState.Telemetry.Timestamp;
}
WaitForNextTimer();
}