private void StopWorker()
{
try
{
if (isWorkerRunning && plucky != null && !plucky.isCommError)
{
//plucky.Dispose();
Task.Factory.StartNew(plucky.Dispose).Wait();
//await Task.Factory.StartNew(plucky.Dispose);
//await Task.Delay(2000); // let PWM commands reach motors
Task.Delay(4000).Wait(); // let PWM commands reach motors
}
IsDeviceOpen = false;
StopTickers().Wait(); // triggers tokenSource.Cancel()
}
catch (AggregateException exc)
{
Debug.WriteLine("Error: StopWorker(): AggregateException - " + exc);
}
catch (CommunicationException exc)
{
Debug.WriteLine("Error: StopWorker(): CommunicationException - " + exc);
}
catch (Exception exc)
{
Debug.WriteLine("Error: StopWorker(): " + exc);
}
if (plucky != null)
{
plucky.Dispose();
plucky = null;
}
if (httpServer != null)
httpServer.robot = plucky;
isWorkerRunning = false;
}
private async Task<bool> doOpenDevice(string deviceId)
{
try
{
// start the worker process:
await StartWorker();
if (!isWorkerRunning || plucky == null || plucky.isCommError)
{
Speak("Hardware brick does not connect");
if (plucky != null)
{
plucky.Close();
plucky = null;
}
}
else
{
// plucky is connected to hardware brick.
}
if (httpServer != null)
httpServer.robot = plucky;
return true;
}
catch (Exception exc)
{
Speak("could not connect");
}
return false;
}
private async Task StartWorker()
{
try
{
IsDeviceOpen = false;
tokenSource = new CancellationTokenSource();
isWorkerRunning = true;
plucky = new PluckyTheRobot(this, joystick, desiredLoopTimeMs);
await plucky.Init(tokenSource, new string[] { currentSerialPort }); // may throw exceptions
if (plucky.isCommError)
{
isWorkerRunning = false;
}
else
{
await InitializeTickers();
LastConnectionTime = DateTime.Now;
IsDeviceOpen = true;
}
}
catch (AggregateException exc)
{
isWorkerRunning = false;
Debug.WriteLine("Error: StartWorker(): AggregateException - " + exc);
throw;
}
catch (CommunicationException exc)
{
isWorkerRunning = false;
Debug.WriteLine("Error: StartWorker(): CommunicationException - " + exc);
throw;
}
catch (Exception exc)
{
isWorkerRunning = false;
Debug.WriteLine("Error: StartWorker(): " + exc);
throw;
}
}
/// <summary>
/// click on the button that selects the serial port and then starts backround worker, thus starting the robot.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private async void OpenCloseButton_Click(object sender, RoutedEventArgs e)
{
try {
OpenCloseButton.IsEnabled = false;
if (isWorkerRunning)
{
Speak("disconnecting");
await Task.Delay(100);
// cancel the worker process, dispose of plucky - but don't wait for it:
Task task = Task.Factory.StartNew(StopWorker);
await Task.Delay(1000);
ResetOpenCloseButton("");
}
else
{
currentSerialPort = "" + SerialPortComboBox.SelectedValue;
if (!string.IsNullOrWhiteSpace(currentSerialPort))
{
Speak("connecting");
await Task.Delay(1000);
// start the worker process:
await StartWorker();
if (!isWorkerRunning || plucky.isCommError)
{
StatusLabel.Text = plucky.ToString() + " cannot connect to hardware brick";
ResetOpenCloseButton("");
Speak("Hardware brick does not connect");
if (plucky != null)
{
plucky.Close();
plucky = null;
}
}
else
{
// plucky is connected to hardware brick.
SerialPortComboBox.IsEnabled = false;
OpenCloseButton.Content = "Close";
EnableOpenCloseButton("");
}
if (httpServer != null)
httpServer.robot = plucky;
}
else
{
Speak("Select serial port");
StatusLabel.Text = "Please select serial port to connect to " + plucky + " hardware brick";
ResetOpenCloseButton("");
}
}
}
catch (Exception exc)
{
Speak("Oops");
StatusLabel.Text = exc.Message;
Debug.WriteLine("Exception: " + exc);
ResetOpenCloseButton("");
plucky = null;
if (httpServer != null)
httpServer.robot = plucky;
}
}