public override void Init(IMavlinkPayloadClient client)
{
base.Init(client);
Register <Dictionary <string, string> >(WellKnownDiag.DiagStringsValueName).Subscribe(OnDataString, _cancel.Token);
Register <Dictionary <string, double> >(WellKnownDiag.DiagDigitValueName).Subscribe(OnDataDigit, _cancel.Token);
Register <Dictionary <string, string> >(WellKnownDiag.DiagSettingsValueName).Subscribe(OnDataSettings, _cancel.Token);
}
public static async Task <TOut> Send <TIn, TOut>(this IMavlinkPayloadClient src, string path, TIn data,
TimeSpan timeout, int attemptsCount, CancellationToken cancel, Action <int> progressCallback)
where TOut : new()
{
progressCallback = progressCallback ?? (i => { });
Exception lastError = null;
var result = default(TOut);
for (var i = 0; i < attemptsCount; i++)
{
progressCallback(i + 1);
cancel.ThrowIfCancellationRequested();
_logger.Debug(
$"Call {path}. Attempt {i + 1} of {attemptsCount} with {timeout:g} timeout. Args {JsonConvert.SerializeObject(data)}");
var tokenWithTimeout = new CancellationTokenSource(timeout);
using var linkedToken = CancellationTokenSource.CreateLinkedTokenSource(cancel, tokenWithTimeout.Token);
try
{
result = await src.Send <TIn, TOut>(path, data, linkedToken.Token).ConfigureAwait(false);
return(result);
}
catch (TimeoutException e)
{
lastError = e;
_logger.Warn($"Timeout to call {path}. Attept {i + 1} of {attemptsCount}");
}
catch (PayloadClientException e)
{
lastError = e;
_logger.Error(e.Message);
break;
}
catch (Exception e)
{
lastError = e;
_logger.Warn($"Error occured to call {path}. Attept {i + 1} of {attemptsCount}");
}
finally
{
linkedToken?.Dispose();
tokenWithTimeout?.Dispose();
}
}
Debug.Assert(lastError != null);
throw lastError;
}
public virtual void Init(IMavlinkPayloadClient client)
{
_client = client ?? throw new ArgumentNullException(nameof(client));
}
