public RobotConnectionService(IStreamResource streamResource)
{
_streamResource = streamResource;
_watchdog = new Watchdog(1100); //this should be minimum 2x keepAlive sending period
_watchdog.TimeoutOccured += (sender, args) => TimeoutOccured?.Invoke(sender, args);
//TODO unifiy the error event args, so we can use one common event handler
var messageExtractor = new MessageExtractor();
messageExtractor.KeepAliveReceived += (sender, args) => _watchdog.ResetWatchdog();
messageExtractor.MessageLostOccured +=
(sender, args) => Logger.Fatal($"Lost message, total count: {args.TotalLostCount}");
messageExtractor.SpeedCurrentFeedbackReceived += (sender, args) => SpeedCurrentFeedbackReceived?.Invoke(sender, args);
messageExtractor.VoltageTemperatureFeedbackReceived += (sender, args) => VoltageTemperatureFeedbackReceived?.Invoke(sender, args);
messageExtractor.ParametersReceived += (sender, args) => ParametersReceived?.Invoke(sender, args);
_receiverTask = new ReceiverTask(_streamResource);
_receiverTask.ErrorOccurred += (sender, args) => Logger.Error($"Receiver task error: {args.GetException().Message}");
_receiverTask.DataReceived += (sender, args) => messageExtractor.TryGetMessage(args.Data);
_receiverTask.Start();
_senderQueue = new SendQueueWrapper();
_senderTask = new SenderTask(_streamResource, _senderQueue);
_senderTask.ErrorOccurred += (sender, args) => Logger.Error($"Sender task error: {args.GetException().Message}");
_senderTask.Start();
_watchdog.Start();
}
private void OnElapsed(object sender, ElapsedEventArgs e)
{
Debug.WriteLine("Connection timeout: robot is not sending keep alive");
TimeoutOccured?.Invoke(this, EventArgs.Empty);
}
