public void Init(ILawnMowingMachine machine)
{
Logger.Info($"Starting LownManager initialization of size ({machine.SizeX}, {machine.SizeY})");
lock (SyncRoot)
{
//Cancel old execution
if (_initialized)
{
_cancelSource.Cancel();
}
_cancelSource = new CancellationTokenSource();
var machineThread = new Thread(() =>
{
while (true)
{
Action action;
while (_commands.TryDequeue(out action))
{
if (_cancelSource.Token.IsCancellationRequested)
{
return;
}
_currentAction = action;
_currentAction();
}
if (_cancelSource.Token.IsCancellationRequested)
{
return;
}
Thread.Sleep(1000);
}
});
machineThread.IsBackground = true;
machineThread.Start();
_machine = machine;
_initialized = true;
}
}
public SLMMController(ILawnMowingMachine machine)
{
_machine = machine;
}
