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();
}
}
}
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 == 1)
{
_itemsToSendEvent.Release();
}
while (_commandsToSend.Count > MaxQueueSize)
{
// TODO - shoudl at least trace this really!
_commandsToSend.Dequeue();
}
}
}
private async Task SendCommand(CommandWithActions toSend)
{
try
{
int sequenceNumber;
lock (this)
{
sequenceNumber = _sequenceNumber;
_sequenceNumber++;
_responseListeners[sequenceNumber] = toSend;
}
byte[] payload = toSend.Command.GetBytes(sequenceNumber);
await _streamSpheroWrapper.SendBytes(payload);
}
catch (Exception exception)
{
toSend.OnError(exception);
}
}
private void SendCommmands()
{
try
{
while (true)
{
var waitResult = _itemsReadyEvent.WaitOne(100);
if (!waitResult)
{
if (_disconnected)
{
break;
}
continue;
}
CommandWithActions toSendThisTime = null;
lock (_commandsToSend)
{
toSendThisTime = _commandsToSend.Dequeue();
if (_commandsToSend.Count == 0)
{
_itemsReadyEvent.Reset();
}
}
SendCommand(toSendThisTime);
}
}
catch (SpheroPluginException exception)
{
// assume disconnected
RaiseDisconnected();
}
}
protected async Task SendCommmands()
{
try
{
while (true)
{
var waitResult = await _itemsToSendEvent.WaitAsync(1000);
if (!waitResult)
{
if (_disconnected)
{
break;
}
continue;
}
CommandWithActions toSendThisTime = null;
lock (_commandsToSend)
{
toSendThisTime = _commandsToSend.Dequeue();
if (_commandsToSend.Count != 0)
{
_itemsToSendEvent.Release();
}
}
await SendCommand(toSendThisTime);
}
}
catch (SpheroPluginException exception)
{
// assume disconnected
RaiseDisconnected();
}
}
