public async Task <MavParam> ReadParam(string name, int attemptCount, CancellationToken cancel)
{
var packet = new ParamRequestReadPacket
{
ComponenId = _config.ComponentId,
SystemId = _config.SystemId,
Payload =
{
TargetComponent = _config.TargetComponenId,
TargetSystem = _config.TargetSystemId,
ParamId = SetParamName(name),
ParamIndex = -1,
}
};
byte currentAttempt = 0;
MavParam result = null;
while (currentAttempt < attemptCount)
{
++currentAttempt;
using (var timeoutCancel = new CancellationTokenSource(_config.ReadWriteTimeoutMs))
using (var linkedCancel = CancellationTokenSource.CreateLinkedTokenSource(cancel, timeoutCancel.Token))
{
var eve = new AsyncAutoResetEvent(false);
IDisposable subscribe = null;
try
{
subscribe = OnParamUpdated.FirstAsync(_ => _.Name == name)
.Subscribe(_ =>
{
result = _;
eve.Set();
});
await _connection.Send(packet, linkedCancel.Token).ConfigureAwait(false);
await eve.WaitAsync(linkedCancel.Token);
}
catch (TaskCanceledException)
{
if (!timeoutCancel.IsCancellationRequested)
{
throw;
}
}
finally
{
subscribe?.Dispose();
}
return(result);
}
}
if (result == null)
{
throw new TimeoutException(string.Format("Timeout to read param '{0}' with '{1}' attempts (timeout {1} times by {2:g} )", name, currentAttempt, TimeSpan.FromMilliseconds(_config.ReadWriteTimeoutMs)));
}
return(result);
}
public async Task <MavParam> ReadParam(short index, int attemptCount, CancellationToken cancel)
{
_logger.Info($"Begin read param by index '{index}': BEGIN");
var packet = new ParamRequestReadPacket
{
ComponenId = _identity.ComponentId,
SystemId = _identity.SystemId,
Payload =
{
TargetComponent = _identity.TargetComponentId,
TargetSystem = _identity.TargetSystemId,
ParamId = SetParamName(string.Empty),
ParamIndex = index,
}
};
byte currentAttempt = 0;
MavParam result = null;
while (currentAttempt < attemptCount)
{
++currentAttempt;
using (var timeoutCancel = new CancellationTokenSource(_config.ReadWriteTimeoutMs))
using (var linkedCancel = CancellationTokenSource.CreateLinkedTokenSource(cancel, timeoutCancel.Token))
{
var eve = new AsyncAutoResetEvent(false);
IDisposable subscribe = null;
try
{
subscribe = OnParamUpdated.FirstAsync(_ => _.Index == index)
.Subscribe(_ =>
{
result = _;
eve.Set();
});
await _connection.Send(packet, linkedCancel.Token).ConfigureAwait(false);
await eve.WaitAsync(linkedCancel.Token);
}
catch (TaskCanceledException)
{
_logger.Warn($"Read param by index '{index}': TIMEOUT {currentAttempt} of {attemptCount}");
if (!timeoutCancel.IsCancellationRequested)
{
throw;
}
}
finally
{
subscribe?.Dispose();
}
return(result);
}
}
if (result == null)
{
var ex = new TimeoutException(string.Format("Timeout to read param with index '{0}' with '{1}' attempts (timeout {1} times by {2:g} )", index, currentAttempt, TimeSpan.FromMilliseconds(_config.ReadWriteTimeoutMs)));
_logger.Error(ex, $"Read param by index '{index}': {ex.Message}");
throw ex;
}
return(result);
}
