public Task Write(int id, byte[] data)
{
var request = new WriteDataRequest
{
TerminalId = id,
Data = data
};
return(_appServiceConnection.SendMessageAsync(CreateMessage(request)));
}
private void WriteButton_Click(object sender, RoutedEventArgs e)
{
var data = GetWriteData();
if (data == null)
{
return;
}
WriteDataRequest?.Invoke(data);
}
public WriteDataResponse Write(WriteDataRequest request)
{
using var channel = GrpcChannel.ForAddress($"http://{_cluster.Leader}:5000");
var client = new Leader.LeaderClient(channel);
var response = client.Write(new WriteRequest
{
Message = Google.Protobuf.ByteString.CopyFromUtf8(request.Message)
});
return(new WriteDataResponse {
Offset = response.Offset
});
}
private int WriteData(byte[] data, RobotPacket.PacketID packetID)
{
crcCount++;
if (CancelProcess)
{
SendCancel();
return 2;
}
var writeMotionDataRequest = new WriteDataRequest(data, packetID);
//var bytes = writeMotionDataRequest.BuildRequest();
//SendData(bytes);
//System.Threading.Thread.Sleep(5);
//return 1;
if (crcCount == WirelessConnection.MaxCrcRetry)
{
crcCount = 0;
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reach max crc");
_logger.Error("WriteData: reach max crc");
}
return 0;
}
var reply = writeMotionDataRequest.Process() as RobotReplyData;
if (reply == null)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reply is null");
_logger.Error("WriteData: reply is null");
}
return 0;
}
// Check reply error
if (reply.Type == RobotReplyData.ReplyType.CRC)
{
DebugHelper.WriteLine("WriteData: CRC error");
_logger.Error("WriteData: CRC error");
return WriteData(data, packetID);
}
else if (reply.Type != RobotReplyData.ReplyType.Success)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reply is not success");
_logger.Error("WriteData: reply is not success");
}
return WriteData(data, packetID);
//return 0;
}
if (reply.Data.Length == 0)
{
if (_writeProcess) _logger.Error("WriteData: reply data is null");
return 0;
}
if (GlobalFunction.LE4ToDec(reply.Data) != data.Length)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: cannot write all data");
_logger.Error("WriteData: cannot write all data");
}
return 0;
}
crcCount = 0;
return 1;
}
private int WriteData(byte[] data, RobotPacket.PacketID packetID)
{
crcCount++;
if (CancelProcess)
{
SendCancel();
return(2);
}
var writeMotionDataRequest = new WriteDataRequest(data, packetID);
//var bytes = writeMotionDataRequest.BuildRequest();
//SendData(bytes);
//System.Threading.Thread.Sleep(5);
//return 1;
if (crcCount == WirelessConnection.MaxCrcRetry)
{
crcCount = 0;
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reach max crc");
_logger.Error("WriteData: reach max crc");
}
return(0);
}
var reply = writeMotionDataRequest.Process() as RobotReplyData;
if (reply == null)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reply is null");
_logger.Error("WriteData: reply is null");
}
return(0);
}
// Check reply error
if (reply.Type == RobotReplyData.ReplyType.CRC)
{
DebugHelper.WriteLine("WriteData: CRC error");
_logger.Error("WriteData: CRC error");
return(WriteData(data, packetID));
}
else if (reply.Type != RobotReplyData.ReplyType.Success)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reply is not success");
_logger.Error("WriteData: reply is not success");
}
return(WriteData(data, packetID));
//return 0;
}
if (reply.Data.Length == 0)
{
if (_writeProcess)
{
_logger.Error("WriteData: reply data is null");
}
return(0);
}
if (GlobalFunction.LE4ToDec(reply.Data) != data.Length)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: cannot write all data");
_logger.Error("WriteData: cannot write all data");
}
return(0);
}
crcCount = 0;
return(1);
}
