public void RunPubJob()
{
if (pubTimer.HasElapsed() >= 10)
{
if (zmqPubSocket != null)
{
StatusMessage statusMsg = new StatusMessage();
lock (pubLockObj)
{
foreach (KeyValuePair <int, float> x in encoderMap)
{
ValueMessage v = new ValueMessage {
Id = x.Key, Value = x.Value
};
statusMsg.Encoders.Add(v);
}
foreach (KeyValuePair <int, float> x in accelerometerMap)
{
ValueMessage v = new ValueMessage {
Id = x.Key, Value = x.Value
};
statusMsg.Accelerometers.Add(v);
}
foreach (KeyValuePair <int, float> x in gyroscopeMap)
{
ValueMessage v = new ValueMessage {
Id = x.Key, Value = x.Value
};
statusMsg.Gyroscopes.Add(v);
}
foreach (KeyValuePair <int, float> x in advancedMap)
{
ValueMessage v = new ValueMessage {
Id = x.Key, Value = x.Value
};
statusMsg.Advanced.Add(v);
}
}
Console.WriteLine("Sending");
zmqPubSocket.Send(new ZFrame(statusMsg.ToByteArray()));
}
else
{
Interlocked.Increment(ref pubFailCount);
if (pubFailCount >= 100)
{
ReInitPubSocket();
}
}
pubTimer.Start();
}
}
public void RunRepJob()
{
if (repTimer.HasElapsed() >= 1)
{
if (zmqRepSocket != null)
{
using (ZFrame request = zmqRepSocket.ReceiveFrame(ZSocketFlags.DontWait, out ZError zErr))
{
if (zErr == ZError.None && request.Length > 0)
{
try
{
byte[] b = request.Read();
ControlMessage cM = ControlMessage.Parser.ParseFrom(b);
lock (repLockObj)
{
foreach (var motor in cM.Motors)
{
motorMap[motor.Id] = motor.Value;
}
}
zmqRepSocket.Send(new ZFrame("A"));
}
catch { }
}
}
}
else
{
Interlocked.Increment(ref repFailCount);
if (repFailCount >= 100)
{
ReInitRepSocket();
}
}
repTimer.Start();
}
}