private void ProcessCommand(ReadedCommandData rcd)
{
var responce = BasicResponce.Create((Commands)rcd.Code, rcd.Data);
if (ReceivedResponce != null)
{
Console.WriteLine(responce.ToString());
ReceivedResponce(responce);
}
//Console.WriteLine("FRF: Received command:" + rcd.Code.ToString());
}
public void MainLoop()
{
while (true)
{
BasicResponce responce = null;
if (_responces.Count > 0)
{
responce = _responces.Dequeue();
}
if (_currentMetaCommand != null)
{
var result = _currentMetaCommand.ProcessResponce(responce);
switch (result.Action)
{
case MetaCommandAction.Command:
result.Command.Execute(_port);
break;
case MetaCommandAction.NewMetaCommand:
_currentMetaCommand = result.MetaCommand;
break;
case MetaCommandAction.Done:
_currentMetaCommand = null;
break;
default:
break;
}
}
Thread.Sleep(1);
}
/*var cmd = new TurnCommand(TurnDirection.Left, 180, 255, true, 500);
* cmd.Execute(_port);*/
/*while (true)
* {
* //var cmd = new RangeScanCommand(11, 11, 3500);
* var cmd = new StatusCommand(11, 500);
* cmd.Execute(_port);
* }*/
}
private void PortOnReceivedResponce(BasicResponce cmd)
{
_responces.Enqueue(cmd);
}