internal static StopWatch StartNew()
{
StopWatch stopWatch = new StopWatch();
stopWatch.Start();
return stopWatch;
}
private static void ThreadMethodSendATCommands()
{
string commandBatch = null;
Socket socket = UdpSockets[CommunicationChannel.Command];
IPEndPoint endPoint = new IPEndPoint(IPAddress.Any, 0);
StopWatch stopWatch = new StopWatch();
do
{
try
{
stopWatch.Restart();
if (!DroneProxy.IsInitialized)
{
InitializeDrone();
}
commandBatch = CommandCenter.GetNextCommandBatch();
//Simple way to be able to only view the commands that would be sent and not
//actually send them. Maybe to be finetuned at a later stage for some selctivity.
if (!Controller.ControllerConfig.EnableATCommandSimulation)
{
SendMessage(CommunicationChannel.Command, commandBatch);
}
Controller.OnNotifiedTraceMessage(commandBatch.Remove(commandBatch.Length -1), NotificationSource.CommandCenter, TraceNotificationLevel.Information);
stopWatch.Stop();
if (stopWatch.ElapsedMilliseconds < Constants.NavigationDataRefreshInterval)
{
Thread.Sleep((int)(Constants.NavigationDataRefreshInterval - stopWatch.ElapsedMilliseconds));
}
if (!WorkerThreadATCommandsActive)
{
WorkerThreadATCommandsActive = true;
}
}
catch (SocketException socketException)
{
switch (socketException.ErrorCode)
{
case 10060: //Socket timeout
Controller.OnNotifiedTraceMessage(String.Format("AT :No activity on worker thread for {0} milliseconds.", Constants.SocketTimeoutNavigationData), NotificationSource.CommunicationCenter, TraceNotificationLevel.Error);
WorkerThreadATCommandsActive = false;
break;
}
}
catch (Exception exception)
{
Controller.OnNotifiedTraceMessage("AT :" + exception.Message, NotificationSource.CommunicationCenter, TraceNotificationLevel.Error);
}
} while (Controller.ConnectionStatus != ConnectionStatus.Closed);
}