protected void DoCommand(byte[] buffer)
{
if (buffer == null)
{
throw new ArgumentNullException("buffer");
}
if (buffer.Length == 0)
{
throw new ArgumentException("Buffer is empty.");
}
// Roomba will ignore commands if it gets them too quickly.
// Check when it executed it's last command, and sleep
// until we've reached the lag time if it was too recent.
// TODO better way to handle command lag/command queing
var lastRun = (DateTime.Now - _lastCommand);
if (lastRun < _commandLag)
{
System.Threading.Thread.Sleep(_commandLag - lastRun);
}
_communicationService.DoCommand(buffer);
_lastCommand = DateTime.Now;
}