private void CommandWorker()
{
//lock (sync)
{
while (cmdQueue.Count > 0)
{
NXTCommand cmd = (NXTCommand)cmdQueue[0];
if (!SocketSend(cmd.command))
{
cmdArchive.Add(cmd);
cmdQueue.RemoveAt(0);
cmdQueue.TrimToSize();
continue;
}
if (cmd.UpdateStatus())
{
SocketReceive(cmd.reply);
}
ProcessReply(cmd);
cmdArchive.Add(cmd);
cmdQueue.RemoveAt(0);
cmdQueue.TrimToSize();
/*
* byte nError = cmd.reply[2];
* if (nError > 0)
* throw new NXTException(GetError(nError));
*/
}
}
}
protected bool SendCommand(byte[] command, byte[] reply)
{
NXTCommand cmd = new NXTCommand(command, reply);
lock (sync)
{
cmdQueue.Add(cmd);
if (cmdThread == null || !cmdThread.IsAlive)
{
cmdThread = new Thread(CommandWorker);
cmdThread.Start();
}
}
return(true);
}
public void ProcessReply(NXTCommand cmd)
{
switch ((NXTCommandCode)cmd.commandCode)
{
case NXTCommandCode.GETOUTPUTSTATE:
break;
case NXTCommandCode.GETINPUTVALUES:
break;
case NXTCommandCode.GETBATTERYLEVEL:
Process_GetBatteryLevel(cmd.reply);
break;
case NXTCommandCode.KEEPALIVE:
Process_KeepAlive(cmd.reply);
break;
case NXTCommandCode.LSGETSTATUS:
Process_LSGetStatus(cmd.reply);
break;
case NXTCommandCode.LSWRITE:
break;
case NXTCommandCode.LSREAD:
Process_LSRead(cmd.reply);
break;
case NXTCommandCode.GETCURRENTPROGRAMNAME:
break;
case NXTCommandCode.MESSAGEREAD:
Process_MessageRead(cmd.reply);
break;
case NXTCommandCode.VERSION:
Process_GetVersion(cmd.reply);
break;
}
}
protected bool SendCommand(byte[] command, byte[] reply)
{
NXTCommand cmd = new NXTCommand(command, reply);
lock (sync)
{
cmdQueue.Add(cmd);
if (cmdThread == null || !cmdThread.IsAlive)
{
cmdThread = new Thread(CommandWorker);
cmdThread.Start();
}
}
return true;
}
public void ProcessReply(NXTCommand cmd)
{
switch ((NXTCommandCode)cmd.commandCode)
{
case NXTCommandCode.GETOUTPUTSTATE:
break;
case NXTCommandCode.GETINPUTVALUES:
break;
case NXTCommandCode.GETBATTERYLEVEL:
Process_GetBatteryLevel(cmd.reply);
break;
case NXTCommandCode.KEEPALIVE:
Process_KeepAlive(cmd.reply);
break;
case NXTCommandCode.LSGETSTATUS:
Process_LSGetStatus(cmd.reply);
break;
case NXTCommandCode.LSWRITE:
break;
case NXTCommandCode.LSREAD:
Process_LSRead(cmd.reply);
break;
case NXTCommandCode.GETCURRENTPROGRAMNAME:
break;
case NXTCommandCode.MESSAGEREAD:
Process_MessageRead(cmd.reply);
break;
case NXTCommandCode.VERSION:
Process_GetVersion(cmd.reply);
break;
}
}
