private void SendCommand(CommandWithActions toSend)
{
try
{
int sequenceNumber;
lock (this)
{
sequenceNumber = _sequenceNumber;
_sequenceNumber++;
_responseListeners[sequenceNumber] = toSend;
}
byte[] payload = toSend.Command.GetBytes(sequenceNumber);
var sendTask = _streamSpheroWrapper.SendBytes(payload);
sendTask.Start();
sendTask.Wait();
}
catch (AggregateException exception)
{
toSend.OnError(exception.InnerException);
}
catch (Exception exception)
{
toSend.OnError(exception);
}
}
public void SendAndReceive(ISpheroCommand command, Action<ISpheroMessage> onSuccess, Action<Exception> onError)
{
//DoCommand(command, onSuccess, onError);
var message = new CommandWithActions(command, onSuccess, onError);
lock (_commandsToSend)
{
_commandsToSend.Enqueue(message);
if (_commandsToSend.Count > 0)
{
_itemsReadyEvent.Set();
}
}
}