private void SendControllerData()
{
while (!_serviceDone)
{
if (_controller.IsConnected)
{
if (!_controllerIsConnected)
{
_controllerIsConnected = true;
EventLog.WriteEntry(this.GetType().Name, $"Controller connected");
}
_controller.Update();
byte[] buffer = _controller.GetBytes();
EnqueueData(buffer);
}
else
{
if (_controllerIsConnected)
{
_controllerIsConnected = false;
EventLog.WriteEntry(this.GetType().Name, $"Controller disconnected");
}
}
Thread.Sleep(50);
}
}
private void StreamDataToClient(WebSocket socket, CancellationToken cancellationToken)
{
Task.Run(async() =>
{
while (!cancellationToken.IsCancellationRequested)
{
DroneController droneController = new DroneController();
droneController.Update();
if (droneController.IsConnected)
{
byte[] bytes = droneController.GetBytes();
await socket.SendAsync(new ArraySegment <byte>(bytes), WebSocketMessageType.Binary, true, CancellationToken.None);
Thread.Sleep(10);
}
else
{
Thread.Sleep(100);
}
}
});
}