private void WriteStartCommand(StartCommand startCommand)
{
StringBuilder startCommandBuilder = new StringBuilder("START\n");
startCommandBuilder.AppendFormat("name:{0}\n", startCommand.Name);
startCommandBuilder.Append("\n");
Write(startCommandBuilder.ToString());
}
public void Start()
{
Task.Factory.StartNew(() =>
{
try
{
_control.Connect();
// Send PREPARE command
PrepareCommand prepareCommand = new PrepareCommand {Name = _name};
_control.WriteCommand(prepareCommand);
bool abortWritten = false;
while (true)
{
try
{
CommandEvent commandEvent = _control.ReadEvent(200);
switch (commandEvent.EventKind)
{
case CommandEvent.Kind.PREPARED:
_latch.NotifyPrepared();
StartCommand startCommand = new StartCommand { Name = _name };
_control.WriteCommand(startCommand);
break;
case CommandEvent.Kind.STARTED:
_latch.NotifyStartable();
break;
case CommandEvent.Kind.ERROR:
ErrorEvent errorEvent = (ErrorEvent)commandEvent;
throw new Exception(String.Format("{0}:{1}", errorEvent.Summary, errorEvent.Description));
case CommandEvent.Kind.FINISHED:
FinishedEvent finishedEvent = commandEvent as FinishedEvent;
_expectedScript = finishedEvent.ExpectedScript;
_observedScript = finishedEvent.ObservedScript;
_latch.NotifyFinished();
return;
default:
throw new InvalidOperationException("Unsupported event: " + commandEvent.EventKind);
}
}
catch (Exception ex)
{
if (_abortScheduled && !abortWritten)
{
abortWritten = true;
SendAbortCommand();
}
}
}
}
catch (SocketException socketException)
{
Exception exception = new Exception("Failed to connect. Is the Robot running?", socketException);
_latch.NotifyException(exception);
}
catch (Exception exception)
{
_latch.NotifyException(exception);
}
finally
{
_control.Disconnect();
}
});
// Wait until robot server is ready to accept connections
_latch.AwaitStartable();
}