private void EmIO_Manager_InSync(object sender, bool state)
{
EmIO_InSync?.Invoke(sender, state);
if (SocketIO_Client == null)
{
return;
}
if (state)
{
List <byte> toSend = new List <byte>();
if (WaitingForInputUpdate)
{
for (int i = 1; i <= EmIO_Manager.ActiveSets.Count(); i++)
{
toSend.AddRange(EmIO_Manager.ActiveSets[i.ToString()].Inputs);
}
SocketIO_Client.Write(new SocketIOArgs(toSend).GetSocketCommandString(2));
WaitingForInputUpdate = false;
return;
}
if (WaitingForOutputUpdate)
{
for (int i = 1; i <= EmIO_Manager.ActiveSets.Count(); i++)
{
toSend.AddRange(EmIO_Manager.ActiveSets[i.ToString()].Outputs);
}
SocketIO_Client.Write(new SocketIOArgs(toSend).GetSocketCommandString(11));
WaitingForOutputUpdate = false;
return;
}
}
}
private void ConnectionCleanup()
{
if (Connection != null)
{
Connection.ConnectState -= Connection_ConnectState;
Connection.QueueJobUpdate -= Connection_QueueUpdate;
}
if (EmRobots_Manager != null)
{
EmRobots_Manager.InSync -= EmRobots_Manager_InSync;
EmRobots_Manager.Stop();
EmRobots_Manager = null;
}
this.Queue(false, new Action(() => EmRobots_InSync?.Invoke(this, false)));
if (EmIO_Manager != null)
{
EmIO_Manager.InSync -= EmIO_Manager_InSync;
EmIO_Manager.Stop();
EmIO_Manager = null;
}
this.Queue(false, new Action(() => EmIO_InSync?.Invoke(this, false)));
if (EmQueue_Manager != null)
{
EmQueue_Manager.InSync -= EmQueue_Manager_InSync;
EmQueue_Manager.Stop();
EmQueue_Manager = null;
}
this.Queue(false, new Action(() => EmQueue_InSync?.Invoke(this, false)));
Connection?.Close();
Connection?.Dispose();
Connection = null;
}
