/// <summary>
/// see <see cref="ICrazyflieParamConfigurator.RefreshParameterValue(string)"/>
/// </summary>
public Task <object> RefreshParameterValue(string completeName)
{
EnsureToc();
var id = CurrentToc.GetElementId(completeName);
if (id == null)
{
throw new ArgumentException($"{completeName} not found in toc", nameof(completeName));
}
var request = new ParamRequest(id.Value);
lock (_openLoadRequestLock)
{
_openLoadRequests.Add(request);
}
return(Task.Run(() =>
{
_paramSynchronizer.RequestLoadParamValue(id.Value);
try
{
if (!request.Wait(10000))
{
throw new ApplicationException($"failed to update parameter value {completeName} (timeout)");
}
return GetLoadedParameterValue(completeName);
}
finally
{
request.Dispose();
}
}));
}
/// <summary>
/// <see cref="ICrazyflieParamConfigurator.SetValue(string, object)"/>
/// </summary>
public Task SetValue(string completeName, object value)
{
EnsureToc();
var id = CurrentToc.GetElementId(completeName);
if (id == null)
{
throw new ArgumentException($"{completeName} not found in toc", nameof(completeName));
}
if (CurrentToc.GetElementById(id.Value).Access != ParamTocElement.AccessLevel.Readwrite)
{
throw new InvalidOperationException("unable to set a readonly parameter: " + completeName);
}
var element = CurrentToc.GetElementById(id.Value);
var packId = ParamTocElement.GetIdFromCString(element.CType);
var content = ParamTocElement.Pack(packId, value);
var request = new ParamRequest(id.Value);
lock (_openStoreRequestLock)
{
_openStoreRequests.Add(request);
}
return(Task.Run(() =>
{
_paramSynchronizer.StoreParamValue(id.Value, content);
try
{
if (!request.Wait(10000))
{
throw new ApplicationException($"failed to store new parameter value {completeName} (timeout)");
}
}
finally
{
request.Dispose();
}
}));
}