static void ReadTrigger(CancellationToken token)
{
Task.Run(() =>
{
while (true)
{
if (token.IsCancellationRequested)
{
break;
}
int trigger = robotManager.GetTriggerSignal();
Debug.WriteLine("Trigger = {0}", trigger);
Thread.Sleep(500);
}
});
}
/// <summary>
/// Trigger signale pooling & send to client
/// </summary>
/// <param name="token"></param>
private void GetTriggerSignal(CancellationToken token)
{
Task.Factory.StartNew(() =>
{
int triggerIndex = -1;
while (true)
{
if (token.IsCancellationRequested)
{
break;
}
int newTriggerIndex = robotManager.GetTriggerSignal();
if (triggerIndex != newTriggerIndex)
{
triggerIndex = newTriggerIndex;
if (lastStep == 3 || lastStep == 5)
{
string message = string.Format("/trigger:{0}", triggerIndex.ToString());
SendToClientMessage(message);
Thread.Sleep(500);
SendToClientMessage(message);
Thread.Sleep(500);
SendToClientMessage(message);
Thread.Sleep(500);
SendToClientMessage(message);
}
//else if (lastStep >= 1 || lastStep >= 6)
//{
// string message = "/trigger:0";
// SendToClientMessage(message);
//}
}
Thread.Sleep(200);
}
});
}