Esempio n. 1
0
        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();
        }
Esempio n. 2
0
 private void OnElapsed(object sender, ElapsedEventArgs e)
 {
     Debug.WriteLine("Connection timeout: robot is not sending keep alive");
     TimeoutOccured?.Invoke(this, EventArgs.Empty);
 }