static void Main(string[] args)
{
//Simple Lock
ValueHolder timer1 = ValueHolder.Instance;
timer1.SetValue(1);
Console.WriteLine(timer1.GetValue());
var timer2 = ValueHolder.Instance;
Console.WriteLine(timer2.GetValue());
//Better Test Actual Threading
ThreadedTimer tTimer1 = ThreadedTimer.Instance;
tTimer1.StartTimer();
Thread.Sleep(1000);
ThreadedTimer tTimer2 = ThreadedTimer.Instance;
tTimer1.StopTimer();
Console.WriteLine(tTimer1.GetFinalTime());
Thread.Sleep(200);
Console.WriteLine(tTimer2.GetFinalTime());
Console.ReadLine();
}
public CentralClock(Form caller)
{
int delay = 1000 / ApplicationConfig.Shared.UpdateRate;
ApplicationConfig.ConfigUpdated += config => _timer.DelayTime = 1000 / config.UpdateRate;
_timer = new ThreadedTimer(() =>
{
if (_supressTimer)
{
return;
}
var padState = GamePad.GetState(PlayerIndex.One, ApplicationConfig.Shared.DeadZone);
StateGenerated?.Invoke(padState);
//Process Gamepad
var frame = CustomLogic.LogicMapper <TResponseData> .InputProcessor.ProcessData(padState, _previousFrame);
//Update the frame number
if (_previousFrame != null)
{
frame.FrameNumber = _previousFrame.FrameNumber + 1;
}
//Send an update tick to the servos
//The trick with the servos, is that all in all we only ever make one ServoSubFrame.
//It gets recycled ever tick so that the servos can calculate velocities
frame.Servos.Servo1.Update();
frame.Servos.Servo2.Update();
frame.Servos.Servo3.Update();
frame.Servos.Servo4.Update();
//Send the frame to anybody who is listening
FrameGenerated?.Invoke(frame);
//Get Sensor Data and send it to anybody who is listening
DataGenerated?.Invoke(CustomLogic.LogicMapper <TResponseData> .RobotClient.LatestData);
//Update Video
//Send new commands
var c = CustomLogic.LogicMapper <TResponseData> .RobotClient;
c.SendFrame(frame);
//Stash the current frame away for the next loop.
_previousFrame = frame;
}, caller, delay);
}
