public static IEnumerable <Error> Validate(this MarkdownDocument doc, string file)
{
var descendants = doc.Descendants().OfType <LinkInline>();
var exception = doc.GetAttachedException();
if (exception != null)
{
yield return(new Error
{
File = file,
Message = "Unexpected error occurred while parsing. Please log an issue to https://github.com/madskristensen/MarkdownEditor/issues Reason: " + exception,
Line = 0,
Column = 0,
ErrorCode = "MK0000",
Fatal = true,
Span = new Span(doc.Span.Start, doc.Span.Length)
});
}
foreach (var link in descendants)
{
if (!IsUrlValid(file, link.Url))
{
yield return(LinkError.Create(file, link));
}
}
}
public static void AssertError(this LinkError error)
{
if (error == LinkError.Success)
{
return;
}
throw new LinkException(error);
}
public static byte[] LinkError(LinkError code)
{
TCPPacketWriter packet = new TCPPacketWriter();
packet.WriteByte((byte)code);
byte[] buf = packet.ToLinkPacket(LinkMsg.MSG_LINK_ERROR);
packet = new TCPPacketWriter();
packet.WriteBytes(buf);
return(packet.ToAresPacket(TCPMsg.MSG_LINK_PROTO));
}
private void UpdateRetryCount()
{
if (_retryBeforeDisconnect > 0)
{
_retryBeforeDisconnect -= 1;
}
if (_retryBeforeDisconnect == 0)
{
LinkError?.Invoke(this, new LinkErrorEventArgs("Too many packets lost"));
}
}
private void EventLoopSafe()
{
try
{
EventLoop();
}
catch (Exception ex)
{
_log.Error("exception in event loop thread.", ex);
LinkError?.Invoke(this, new LinkErrorEventArgs("unexpected error in event loop: " + ex));
}
_eventLoopThread = null;
}
private void CommunicationLoopSafe()
{
try
{
CommunicationLoop();
}
catch (Exception ex)
{
_log.Error("exception in communication loop thread.", ex);
LinkError?.Invoke(this, new LinkErrorEventArgs("unexpected error in communication loop: " + ex));
}
_communicationThread = null;
}
public LinkException(LinkError error, string message) : base(message) => ErrorCode = error;
public LinkException(LinkError error) : this(error, GetMessage(error))
{
}
public LinkException(LinkError error) : base(_GetMessage(error)) => error = _error;
private void CommunicationLoop()
{
_retryBeforeDisconnect = NumberOfRetries;
_emptyCounter = 0;
_waitTime = 0;
var emptyMessage = new CrtpMessage(0xff, new byte[0]);
var outMessage = emptyMessage;
// Try up to 10 times to enable the safelink mode
TryEnableSafeLink();
_comStarted.Set();
_log.Info("Communication with crazyfly started.");
while (_isRunning)
{
CrtpResponse response = null;
try
{
response = Send(outMessage);
}
catch (Exception ex)
{
_log.Error("error sending message", ex);
LinkError?.Invoke(this, new LinkErrorEventArgs("failed to send: " + ex));
}
// Analyse the in data packet ...
if (response == null)
{
_log.Info("Dongle reported ACK status == None");
continue;
}
TrackLinkQuality(response);
if (!response.Ack)
{
UpdateRetryCount();
if (_retryBeforeDisconnect > 0)
{
continue;
}
// else try a next packet to send.
}
_retryBeforeDisconnect = NumberOfRetries;
// after we managed to send the message, set the next one to the ping message again.
outMessage = emptyMessage;
if (response.HasContent)
{
_waitTime = 0;
_emptyCounter = 0;
lock (_lock)
{
_log.Debug($"incoming queue count: {_incoming.Count}; enqueue for {response.Content.Port} / {response.Content.Channel}");
_incoming.Enqueue(response.Content);
while (_incoming.Count > _maxInqueue)
{
// dequue old messages which are not processed and therefore stale.
var old = _incoming.Dequeue();
_log.Warn($"Too many old message not processed, drop for port: {old.Port}.");
}
_waitForInqueue.Set();
}
}
else
{
_emptyCounter += 1;
if (_emptyCounter > 10)
{
_emptyCounter = 10;
// Relaxation time if the last 10 packet where empty
_waitTime = 10;
}
else
{
// send more ack messages to get more responses and don't wait for
// user out messages; start waiting only after 10 empty messages received.
_waitTime = 0;
}
}
_waitForOutqueue.Wait(_waitTime);
lock (_lock)
{
if (_outgoing.Count > 0)
{
outMessage = _outgoing.Dequeue();
}
if (_outgoing.Count == 0)
{
_waitForOutqueue.Reset();
}
}
}
_log.Debug("send loop ended");
}
