public static Task Delay(int millisecond, Select sel = Select.TSK, bool force = false)
{
if (force != true && millisecond >= 15)
{
return(Task.Delay(millisecond));
}
else if (millisecond >= 1)
{
switch (sel)
{
case Select.MMT: return(MultimediaTimer.Delay(millisecond));
case Select.TQT: return(TQTDelay(millisecond));
case Select.TRD: return(StaticThreadTimer(millisecond));
case Select.TSK:
default: return(Task.Delay(millisecond));
}
}
else
{
return(null);
}
}
public void loop()
{
stopExecuting = false;
using (RobustSerial arduinoPort = connectArduino())
using (Cls2SimSocket brunnerSocket = connectBrunner(required: false))
{
var timer = new HighPrecisionTimer.MultimediaTimer();
timer.Interval = timerMs;
timer.Resolution = 2;
//do what you need with the serial port here
try
{
arduinoPort.WaitForConnection();
logger.Info("Checking Arduino Firmware version");
CheckArduinoSketchVersion(arduinoPort, maxSeconds: 3);
_isArduinoConnected = true;
if (brunnerSocket != null)
{
_isBrunnerConnected = true;
}
timer.Elapsed += (o, e) => Communicate(arduinoPort, brunnerSocket);
timer.Start();
while (arduinoPort.IsOpen && !stopExecuting)
{
var currentPosition = new int[2];
_position.CopyTo(currentPosition, 0);
positionHistory.Enqueue(currentPosition);
var prueba = positionHistory.ToArray();
if (positionHistory.Count > 60)
{
positionHistory.Dequeue();
}
System.Threading.Thread.Sleep(100);
}
timer.Stop();
System.Threading.Thread.Sleep(500); // Give it time to the timer events to finish
}
catch (Exception ex)
{
logger.Error(ex, ex.StackTrace);
logger.Error(ex, ex.Message);
}
finally
{
_isArduinoConnected = false;
_isBrunnerConnected = false;
if (timer.IsRunning)
{
timer.Stop();
}
}
}
}
