public async Task Send(RobotCommand command)
{
if (await IsConnected())
{
var sendTask = Task.Run(() =>
{
try
{
ComPort.Write(command.ToString());
}
catch (Exception e)
{
Logger.Instance.Log("ERROR:::" + Name + ":" + e.Message);
}
});
if (!sendTask.Wait(TimeSpan.FromMilliseconds(800)))
{
Logger.Instance.Log("KILLED:::Robot comm to '" + Name + "' too slow");
}
}
else
{
Logger.Instance.Log(Name + " is not connected.");
}
}
private async void DBLoop()
{
Logger.Instance.Log("Communication loop has started");
while (comms)
{
var dbTask = Task.Run(() => database.Query());
if (!dbTask.Wait(TimeSpan.FromMilliseconds(500)))
{
Logger.Instance.Log("KILLED:::DB Query too slow");
}
var robots = await rController.GetAllRobots();
for (int i = 0; i < robots.Length; i++)
{
var command = new RobotCommand(
database.DB_Info[i][1].ToString(),
GetPower(database.DB_Info[i][3].ToString()),
(int)database.DB_Info[i][2]
);
if (command != _lastCommand[i] && !robots[i]._override)
{
_lastCommand[i] = command;
await robots[i].Send(command);
}
}
var local = await rController.GetAllRobotInfo();
dbTask = Task.Run(() => database.Update(local));
if (!dbTask.Wait(TimeSpan.FromMilliseconds(500)))
{
Logger.Instance.Log("KILLED:::DB Upload too slow");
}
await Task.Delay(100);
}
Logger.Instance.Log("Communication loop has stopped");
}
public Form1()
{
rController = new BotController(null);
database = new Database();
_bgWorker = new BackgroundWorker();
_bgQuery = new BackgroundWorker();
_bgWorker.WorkerReportsProgress = true;
_bgWorker.DoWork += _bgWorker_DoWork;
_bgWorker.ProgressChanged += _bgWorker_ProgressChanged;
Logger.Instance.Log("Initialized");
var c = new RobotCommand("N", 0, 0);
_lastCommand = new List <RobotCommand>();
_lastCommand.Add(c);
_lastCommand.Add(c);
_lastCommand.Add(c);
_lastCommand.Add(c);
_lastCommand.Add(c);
InitializeComponent();
var s = Logger.Instance.speed;
numericUpDown1.Value = s;
}
