public void Connect()
{
try
{
DisposeWorkersAndTimer();
ControlWorker = WorkerFactory.CreateControlWorker();
ControlWorker.Disconnected += ControlSocketOnDisconnected;
CommandWorker = WorkerFactory.CreateCommandWorker();
NavDataWorker = WorkerFactory.CreateNavDataWorker();
NavDataWorker.NavDataReceived += NavDataWorkerOnNavDataReceived;
ControlWorker.Run();
CommandWorker.Run();
CommandTimer = TimerFactory.CreateTimer();
NavDataWorker.Run();
QueueInitialCommands();
Connected = true;
}
catch
{
Disconnect();
throw;
}
}
private void DisposeNavDataWorker()
{
if (NavDataWorker != null)
{
NavDataWorker.Dispose();
NavDataWorker = null;
}
}
public void InitializeTests()
{
_mockUdpSocket = new Mock <IUdpSocket>();
_mockNavDataFactory = new Mock <NavDataFactory>();
_mockTimerFactory = new Mock <TimerFactory>();
_mockTimer = new Mock <IDisposable>();
_target = new NavDataWorker {
Socket = _mockUdpSocket.Object, NavDataFactory = _mockNavDataFactory.Object, TimerFactory = _mockTimerFactory.Object
};
}
public DroneClient()
{
_NavigationDataViewModel = new ViewModel.NavigationDataViewModel();
_configuration = new DroneConfiguration();
_CommandWorker = new CommandWorker(this);
_NavDataWorker = new NavDataWorker(this);
_ConfigurationWorker = new ConfigurationWorker(this);
//TODO ajouter le _configurationAcquisitionWorker
_WatchdogWorker = new WatchdogWorker(this, new WorkerBase[] { _NavDataWorker, _CommandWorker });
_InputTimer = ThreadPoolTimer.CreatePeriodicTimer(new TimerElapsedHandler(InputTimerElapsedHandler), TimeSpan.FromMilliseconds(1000 / 12));
}
public virtual NavDataWorker CreateNavDataWorker()
{
var socket = SocketFactory.GetUdpSocket(ConnectParams.NetworkAddress, ConnectParams.NavDataPort);
var timerFactory = new TimerFactory();
var worker = new NavDataWorker
{
Socket = socket,
NavDataFactory = new NavDataFactory(),
TimerFactory = timerFactory
};
timerFactory.TimerCallback = worker.CheckTimeout;
timerFactory.Period = NavDataWorker.Timeout;
return(worker);
}
