public bool Connect(int port)
{
InitConnector();
string[] ports = SerialUtilities.getPortNames();
if (port >= ports.Length)
{
return(false);
}
Disconnect();
_serialPort.PortName = ports [port];
_serialPort.BaudRate = 115200;
try
{
_serialPort.Open();
}catch (Exception e)
{
Debug.Log("Failed to open serialPort:" + e.Message);
}
if (_serialPort.IsOpen)
{
Debug.Log("Connected to Robot at port: " + ports[port]);
_thread.Start();
}
return(_serialPort.IsOpen);
}
private void AddThreadsToWorkingList()
{
if (bsWaiting.Count() > 0)// if the waiting list has any threads
{
ThreadWork threadWork = bsWaiting.First(x => x.Number == bsWaiting.Max(y => y.Number));
bsWaiting.Remove(threadWork);
bsWorking.Add(threadWork);
//the semaphore is sent as a parameter to the ThreadWork class.
threadWork.Start(_s);
}
}
internal void StartPublishThread()
{
if (!IsCopy)
{
return;
}
var threadWork = new ThreadWork();
threadWork.Start("OnSubscribeIEnumerable<T>", () =>
{
var ts = DateTime.Now - CacheDataTime;
if (ts.TotalSeconds > 1)
{
rePublish();
}
return(true);
}, 0.5);
}