private async Task ApplySetup(
string socketAdress,
string liftSetupText,
string propSetupText,
string servoSetupText,
string liftPulsesRatiosText,
string propPulsesRatiosText,
string servoPulseCorrectionText,
string boostSetup)
{
var a = _setupDialog.SocketAddress.Trim().Split(':');
if (a.Length == 2)
{
try
{
this._connection.Host = new HostName(a[0]);
this._connection.Port = a[1];
}
catch (Exception ex)
{
setupAckTextBlock.Text = String.Empty;
exceptionTextBlock.Text = $"{DateTimeOffset.Now} {ex.Message}";
return;
}
this._connection.Socket = null;
}
if (!UpdateSetupPacket(liftSetupText, propSetupText, servoSetupText, liftPulsesRatiosText, propPulsesRatiosText, servoPulseCorrectionText, boostSetup))
{
return;
}
await _semaphoreSlim.WaitAsync();
try
{
HovercraftRequestResult response = null;
string exceptionMessage = null;
response = _setupRecycledResult;
_setupRecycledResult.Recycle();
_setupAckText.Clear();
try
{
await SendHovercraftData(_connection, _setupPacket, response);
}
catch (Exception ex)
{
exceptionMessage = $"{DateTimeOffset.Now} {ex.Message}" + Environment.NewLine;
}
if (ReferenceEquals(exceptionMessage, null) && !ReferenceEquals(response, null) && ReferenceEquals(response.Exception, null))
{
if (response.AckResponseLength > 0)
{
_setupAckText.Append(response.AckResponseBuffer, 0, response.AckResponseLength);
}
setupAckTextBlock.Text = _setupAckText.ToString();
exceptionTextBlock.Text = String.Empty;
return;
}
if (response.AckResponseLength > 0)
{
_setupAckText.Append(response.AckResponseBuffer, 0, response.AckResponseLength);
}
setupAckTextBlock.Text = _setupAckText.ToString();
_sbSetup.Clear();
_sbSetup.Append(exceptionMessage ?? String.Empty);
_sbSetup.Append(!ReferenceEquals(response, null) ? (response.Exception ?? String.Empty) : String.Empty);
exceptionTextBlock.Text = _sbSetup.ToString();
}
finally
{
_ackCounterStopwatch.Restart();
_semaphoreSlim.Release();
}
}
private async static Task SendHovercraftData(Connection connection, byte[] data, HovercraftRequestResult result)
{
StreamSocket socket = null;
Stream outputStream = null;
Stream inputStream = null;
try
{
if (connection.Socket == null)
{
socket = new StreamSocket();
connection.Socket = socket;
await socket.ConnectAsync(connection.Host, connection.Port);
}
socket = connection.Socket;
//Write data
outputStream = socket.OutputStream.AsStreamForWrite();
var writer = new BinaryWriter(outputStream);
writer.Write(data);
writer.Flush();
inputStream = socket.InputStream.AsStreamForRead();
var reader = new StreamReader(inputStream);
//result.AckResponse = await reader.ReadLineAsync();
result.AckResponseLength = await reader.ReadAsync(result.AckResponseBuffer, 0, result.AckResponseBuffer.Length);
//j'enleve le CRLF a la main car je ne veux pas toucher au code du ESP32 pour ne pas perturber l'appli de Marc
if (result.AckResponseLength > 2)
{
if (result.AckResponseBuffer[result.AckResponseLength - 2] == 13 && result.AckResponseBuffer[result.AckResponseLength - 1] == 10)
{
result.AckResponseBuffer[result.AckResponseLength - 2] = (char)0x00;
result.AckResponseBuffer[result.AckResponseLength - 1] = (char)0x00;
result.AckResponseLength = result.AckResponseLength - 2;
}
}
}
catch (Exception e)
{
result.Exception = $"{DateTimeOffset.Now} {e.GetType().Name} : {e.Message}";
if (!ReferenceEquals(socket, null))
{
try
{
try
{
if (!ReferenceEquals(outputStream, null))
{
outputStream.Dispose();
}
}
catch (Exception outputStreamDisposeException)
{
result.Exception += $@"
{DateTimeOffset.Now} outputStream.Dispose() {outputStreamDisposeException.GetType().Name} : {outputStreamDisposeException.Message}";
}
try
{
if (!ReferenceEquals(inputStream, null))
{
inputStream.Dispose();
}
}
catch (Exception inputStreamDisposeException)
{
result.Exception += $@"
{DateTimeOffset.Now} inputStream.Dispose() {inputStreamDisposeException.GetType().Name} : {inputStreamDisposeException.Message}";
}
socket.Dispose();
}
catch (Exception disposeException)
{
result.Exception += $@"
{DateTimeOffset.Now} socket.Dispose() {disposeException.GetType().Name} : {disposeException.Message}";
}
finally
{
connection.Socket = null;
}
}
}
}
private async Task SendControl()
{
bool forceGC = false;
try
{
if (!await _semaphoreSlim.WaitAsync(0))
{
return;
}
HovercraftRequestResult response = null;
string perfText = null;
SolidColorBrush perfTextForeground = null;
string exceptionText = null;
_controlAckText.Clear();
try
{
_controlPacket[0] = _enabledValue;
_controlPacket[1] = _liftValue;
_controlPacket[2] = _propulsionValue;
_controlPacket[3] = _directionValue;
_controlPacket[4] = _isBoostPressed ? (byte)1 : (byte)0;
_controlPacket[5] = _isDirectionByLiftPressed ? (byte)1 : (byte)0;
response = _controlRecycledResult;
_controlRecycledResult.Recycle();
string exceptionMessage = null;
try
{
await SendHovercraftData(_connection, _controlPacket, _controlRecycledResult);
}
catch (Exception ex)
{
exceptionMessage = $"{DateTimeOffset.Now} {ex.Message}" + Environment.NewLine;
}
if (!ReferenceEquals(response, null) && ReferenceEquals(response.Exception, null))
{
Interlocked.Increment(ref _lastSecAckCounter);
var elapsedMs = _ackCounterStopwatch.ElapsedMilliseconds;
if (elapsedMs >= 1000)
{
long perSec = (_lastSecAckCounter / (elapsedMs / 1000));
bool shouldBeGreen = perSec > 20;
perfText = $"{perSec}/sec";
if (_lastBrushWasGreen == null || _lastBrushWasGreen == shouldBeGreen)
{
perfTextForeground = shouldBeGreen ? _lightGreenBrush : _tomatoBrush;
}
_lastBrushWasGreen = shouldBeGreen;
Interlocked.Exchange(ref _lastSecAckCounter, 0);
_ackCounterStopwatch.Restart();
//je tente de lisser l'exec du garbage collector pour diluer/minimiser les lags
forceGC = true;
}
}
if (ReferenceEquals(exceptionMessage, null) && !ReferenceEquals(response, null) && ReferenceEquals(response.Exception, null))
{
if (response.AckResponseLength > 0)
{
_controlAckText.Append(response.AckResponseBuffer, 0, response.AckResponseLength);
}
}
else
{
if (!ReferenceEquals(response, null) && response.AckResponseLength > 0)
{
_controlAckText.Append(response.AckResponseBuffer, 0, response.AckResponseLength);
}
_sbControl.Clear();
_sbControl.Append(exceptionMessage ?? String.Empty);
_sbControl.Append(!ReferenceEquals(response, null) ? (response.Exception ?? String.Empty) : String.Empty);
exceptionText = _sbControl.ToString();
}
bool shouldRefreshAckText = false;
var lastControlElapsed = _lastControlStopwatch.ElapsedMilliseconds;
if (lastControlElapsed > 100) //100ms = 10Hz //40ms = 25Hz
{
shouldRefreshAckText = true;
_lastControlStopwatch.Restart();
}
//On touche à l'UI avec parcimonie :p
if (exceptionText != null || shouldRefreshAckText || perfText != null)
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Low, () =>
{
if (perfText != null)
{
perfTextBlock.Text = perfText;
}
;
if (perfTextForeground != null)
{
perfTextBlock.Foreground = perfTextForeground;
}
;
controlAckTextBlock.Text = _controlAckText.ToString();
exceptionTextBlock.Text = exceptionText ?? "";
});
}
}
finally
{
_semaphoreSlim.Release();
}
}
finally
{
if (forceGC)
{
GC.Collect(0, GCCollectionMode.Forced);
}
}
}
