public static bool FIND_bestPairInLastSentQueues(C_Packet received, ref C_Packet paired)
{
// return through ref the best pairedPacket
e_rot rot;
bool foundMotor = C_MotorControl.GET_motorRotFromId(received.ByteId, out rot);
int rotMot = (int)rot;
if (foundMotor == true)
{
lock (queueSent_locker)
{
if (queueSent[rotMot].Count > 0)
{
List <C_Packet> listSent = (queueSent[rotMot]).ToList();
bool foundBestPair = FIND_bestPairInQueue(received, ref paired, ref listSent);
queueSent[rotMot] = new Queue <C_Packet>(listSent);
queueSent_Count[rotMot] = listSent.Count;
C_MotorControl.ACTUALIZE_queueCounts(queueSent);
return(foundBestPair);
}
else
{
LOG_debug(string.Format("lastSent queue of this motor[{0}] was empty!", rot));
return(false);
}
}
}
else
{
LOG_debug("Did not found any motor connected with this StatusPacket id : "
+ received.ByteId.ToString());
}
return(false);
}
public static void QUEUE_PacketSent(C_Packet instructionPacket)
{
int rotMot = (int)instructionPacket.rotMotor;
if (C_Packet.IS_statusPacketFollowing(instructionPacket) == true)
{
lock (queueSent_locker)
{
instructionPacket.sentTime = DateTime.Now;
queueSent[rotMot].Enqueue(instructionPacket);
queueSent_Count[rotMot] = queueSent[rotMot].Count;
C_MotorControl.ACTUALIZE_queueCounts(queueSent);
}
}
}
