void t_Elapsed(object sender, ElapsedEventArgs e)
{
t.Stop();
lock (thisLock)
{
if (serial != null && serial.IsOpen)
{
elapsedCounter++;
if ((elapsedCounter * 50) > (1000)) // More than 1 second to reply
{
Console.WriteLine("Device Timeout!");
// Send a status command
currentCommand = new StatusCommand();
serial.Transmit(currentCommand.GenerateCommand(), 0x21);
elapsedCounter = 0;
}
}
}
t.Start();
}
void t_Elapsed(object sender, ElapsedEventArgs e)
{
t.Stop();
lock (thisLock)
{
if (elapsedCounter > timeout_ms)
{
if (currentCommand != null && currentCommand is RobotDetectionCommand)
{
Console.WriteLine("Unexpected Response from robot detection: " + (currentCommand as RobotDetectionCommand).DumpData());
}
// Expected reply not received within 1 second, assume command was lost.
Console.WriteLine("Device Timeout!");
}
if (serial == null || !serial.IsOpen || elapsedCounter > timeout_ms)
{
lastPositionKnown = false;
commandGenerator = null;
currentCommand = null;
elapsedCounter = 0;
}
else
{
if (currentCommand == null)
{
currentCommand = new RobotDetectionCommand();
serial.Transmit(currentCommand.GenerateCommand());
elapsedCounter = 0;
}
else
{
elapsedCounter += 50;
}
}
}
t.Start();
}