public void EnqueueCommJob(Priority priority, ICommunicationJob job)
{
CommJobInfo info = new CommJobInfo();
info.WaitHandle = null;
info.Job = job;
// always enqueue this job and run the highest priority one instead
EnqueueJob(priority, info);
}
public override bool Equals(object o)
{
if (o == null || o.GetType() != GetType())
{
return(false);
}
CommJobInfo op2 = o as CommJobInfo;
return(Job == op2.Job);
}
public void EnqueueCommJobAndWait(Priority priority, ICommunicationJob job)
{
CommJobInfo info = new CommJobInfo();
info.WaitHandle = new AutoResetEvent(false);
info.Job = job;
// always enqueue this job and run the highest priority one instead
EnqueueJob(priority, info);
info.WaitHandle.WaitOne();
}
private async Task ProcessJob(CommJobInfo jobInfo, CancellationToken ct)
{
// generate the command string for this job
string cmd = jobInfo.Job.GenerateCommand();
string resp = "";
// send the command in a retry loop
// in case we get back NACKs
const uint tryThreshold = 3;
uint tryCnt;
for (tryCnt = 1; tryCnt <= tryThreshold && !ct.IsCancellationRequested; tryCnt++)
{
try
{
long loopStartTime = stopWatch.ElapsedMilliseconds; // mark the start time of the cycle.
//Debug.WriteLine(String.Format("Comm: Try {0}: cmd: '{1}'", tryCnt, cmd));
await SerialPortWriteLine(cmd);
resp = await SerialPortReadLine();
long elapsedTime = stopWatch.ElapsedMilliseconds - loopStartTime;
//if(cmd.StartsWith("pwm"))
// Debug.WriteLine(String.Format("Comm: Try {0}: '{1}' -> '{2}' {3} ms", tryCnt, cmd, resp, elapsedTime));
// we usually get an ACK or a number (sensor reading) in response.
if (resp != "NACK")
{
break;
}
}
catch (TimeoutException e)
{
Debug.WriteLine(String.Format("Element:CommunicationTask: CommErr: Try {0}: '{1}' -> (timeout) - {2}", tryCnt, cmd, e.Message));
}
}
if (!ct.IsCancellationRequested)
{
if (tryCnt >= tryThreshold)
{
//TODO: communication exception
Debug.WriteLine(String.Format(
"#: aborting '{0}' after {1} tries", cmd, tryCnt - 1));
}
else
{
// process the response
jobInfo.Job.ProcessResponse(resp);
}
}
}
private void EnqueueJob(Priority priority, CommJobInfo job)
{
Queue <CommJobInfo> jobQueue = jobQueues[(int)priority];
lock (jobQueue)
{
if (!jobQueue.Contains(job))
{
jobQueue.Enqueue(job);
sem.Up();
}
}
}
private CommJobInfo DequeueJob()
{
sem.Down();
for (uint i = 0; i < numQueues; ++i)
{
Queue <CommJobInfo> jobQueue = jobQueues[i];
lock (jobQueue)
{
if (jobQueue.Count > 0)
{
CommJobInfo job = jobQueue.Dequeue();
return(job);
}
}
}
return(null);
}
private async void ThreadProc(CancellationToken ct)
{
while (!ct.IsCancellationRequested)
{
// select the next (highest priority) job
CommJobInfo jobInfo = DequeueJob();
if (!running)
{
break;
}
if (jobInfo != null)
{
try
{
await ProcessJob(jobInfo, ct);
}
catch (Exception ex)
{
Debug.WriteLine(ex);
}
finally
{
if (jobInfo.WaitHandle != null)
{
jobInfo.WaitHandle.Set();
}
}
}
else
{
await Task.Delay(10);
}
}
running = false;
ClearJobQueues();
}
private async Task ProcessJob(CommJobInfo jobInfo, CancellationToken ct)
{
// generate the command string for this job
string cmd = jobInfo.Job.GenerateCommand();
string resp = "";
// send the command in a retry loop
// in case we get back NACKs
const uint tryThreshold = 3;
uint tryCnt;
for (tryCnt = 1; tryCnt <= tryThreshold && !ct.IsCancellationRequested; tryCnt++)
{
try
{
long loopStartTime = stopWatch.ElapsedMilliseconds; // mark the start time of the cycle.
//Debug.WriteLine(String.Format("Comm: Try {0}: cmd: '{1}'", tryCnt, cmd));
await SerialPortWriteLine(cmd);
resp = await SerialPortReadLine();
long elapsedTime = stopWatch.ElapsedMilliseconds - loopStartTime;
//if(cmd.StartsWith("pwm"))
// Debug.WriteLine(String.Format("Comm: Try {0}: '{1}' -> '{2}' {3} ms", tryCnt, cmd, resp, elapsedTime));
// we usually get an ACK or a number (sensor reading) in response.
if (resp != "NACK")
{
break;
}
}
catch (TimeoutException e)
{
Debug.WriteLine(String.Format("Element:CommunicationTask: CommErr: Try {0}: '{1}' -> (timeout) - {2}", tryCnt, cmd, e.Message));
}
}
if (!ct.IsCancellationRequested)
{
if (tryCnt >= tryThreshold)
{
//TODO: communication exception
Debug.WriteLine(String.Format(
"#: aborting '{0}' after {1} tries", cmd, tryCnt - 1));
}
else
{
// process the response
jobInfo.Job.ProcessResponse(resp);
}
}
}
private void EnqueueJob(Priority priority, CommJobInfo job)
{
Queue<CommJobInfo> jobQueue = jobQueues[(int)priority];
lock (jobQueue)
{
if (!jobQueue.Contains(job))
{
jobQueue.Enqueue(job);
sem.Up();
}
}
}
public void EnqueueCommJob(Priority priority, ICommunicationJob job)
{
CommJobInfo info = new CommJobInfo();
info.WaitHandle = null;
info.Job = job;
// always enqueue this job and run the highest priority one instead
EnqueueJob(priority, info);
}
public void EnqueueCommJobAndWait(Priority priority, ICommunicationJob job)
{
CommJobInfo info = new CommJobInfo();
info.WaitHandle = new AutoResetEvent(false);
info.Job = job;
// always enqueue this job and run the highest priority one instead
EnqueueJob(priority, info);
info.WaitHandle.WaitOne();
}
