Exemple #1
0
        protected override void Loop(CancellationToken token)
        {
            int sequenceNumber = 1;

            ConcurrentQueueHelper.Flush(_commandQueue);

            using (var udpClient = new UdpClient(CommandPort))
            {
                udpClient.Connect(_configuration.DroneHostname, CommandPort);

                byte[] firstMessage = BitConverter.GetBytes(1);
                udpClient.Send(firstMessage, firstMessage.Length);

                Stopwatch swKeepAlive = Stopwatch.StartNew();
                while (token.IsCancellationRequested == false)
                {
                    ATCommand command;
                    if (_commandQueue.TryDequeue(out command))
                    {
                        byte[] payload = command.CreatePayload(sequenceNumber);

                        Trace.WriteIf((command is COMWDGCommand) == false, Encoding.ASCII.GetString(payload));

                        udpClient.Send(payload, payload.Length);
                        sequenceNumber++;
                        swKeepAlive.Restart();
                    }
                    else if (swKeepAlive.ElapsedMilliseconds > KeepAliveTimeout)
                    {
                        _commandQueue.Enqueue(new COMWDGCommand());
                    }
                    Thread.Sleep(1);
                }
            }
        }
        protected override void Loop(CancellationToken token)
        {
            ConcurrentQueueHelper.Flush(_packetQueue);

            using (var recorder = new PacketWriter(_path))
            {
                while (token.IsCancellationRequested == false)
                {
                    object packet;
                    while (_packetQueue.TryDequeue(out packet))
                    {
                        recorder.Write(packet);
                    }
                    Thread.Sleep(1);
                }
            }
        }
Exemple #3
0
        protected override void Loop(CancellationToken token)
        {
            // flush packet queue
            ConcurrentQueueHelper.Flush(_packetQueue);

            using (var videoDecoder = new VideoPacketDecoder(_pixelFormat))
                while (token.IsCancellationRequested == false)
                {
                    VideoPacket packet;
                    if (_packetQueue.TryDequeue(out packet))
                    {
                        VideoFrame frame;
                        if (videoDecoder.TryDecode(ref packet, out frame))
                        {
                            _onFrameDecoded(frame);
                        }
                    }
                    Thread.Sleep(10);
                }
        }