/// <summary>
/// This method is not yet finished.
/// </summary>
public virtual void WaitForConnect()
{
Conn_.WaitForConnect();
// Use the same cancel token for inbound and outbound
CancelTokenSource_ = new CancellationTokenSource();
OutProt_ = new IOIOProtocolOutgoing(this.Conn_.GetOutputStream());
InProt_ = new IOIOProtocolIncoming(this.Conn_.GetInputStream(), this.InboundHandler_, CancelTokenSource_);
// start the message pump
OutgoingTask_ = new Task(run, CancelTokenSource_.Token, TaskCreationOptions.LongRunning);
OutgoingTask_.Start();
// message sink has to be started before we can verify board version because the board staus is picked up by the sync
//Joe's COM4 @ 115200 spits out HW,BootLoader,InterfaceVersion: IOIOSPRK0016IOIO0311IOIO0500
initBoardVersion();
//checkInterfaceVersion();
}
//////////////////////////////////////////////////////////
//// Outbound Thread Handling section
//// This belongs in IOProtocolOutgoing -- similar to IOProtocolIngoing organization
//////////////////////////////////////////////////////////
/// <summary>
/// We only one thread pulling items off the queue
/// </summary>
public virtual void run()
{
try
{
// pick something fast for humans but long for a computer
TimeSpan timeout = new TimeSpan(0, 0, 0, 0, 100);
while (true)
{
this.CancelTokenSource_.Token.ThrowIfCancellationRequested();
IPostMessageCommand nextMessage;
// use timeout so we can get cancellation token
// use blocking queue so that we aren't spinning
bool didTake = WorkQueue.TryTake(out nextMessage, timeout);
if (didTake && nextMessage != null)
{
LOG.Debug("T:" + OutgoingTask_.Id + " Execution candidate: " + nextMessage);
// notify observers we are ABOUT to send a message
// the observers can block the send if they are
// waiting for device bus internal buffer space
// this only works if the observer is a blocking observer
// this is DIFFERENT than the Java library which hanldes puts each bus buffer in own payload queue
IMessageIOIO possibleNotifyableMessage = nextMessage as IMessageIOIO;
// post notifications down our internal chain
// This works only for observers on CaptureObservable_
// This does not post outbound messages to any observers on custom handlers
if (possibleNotifyableMessage != null)
{
// this really exists for TX buffer calculation,
// ie: IOIO internal resource management
this.CaptureOutboundObservable_.HandleMessage(possibleNotifyableMessage);
}
LOG.Debug("T:" + OutgoingTask_.Id + " Executing: " + nextMessage);
nextMessage.ExecuteMessage(this.OutProt_);
}
}
}
catch (System.Threading.ThreadAbortException e)
{
LOG.Error("T:" + OutgoingTask_.Id + " Probably aborted: (" + e.GetType() + ")" + e.Message);
}
catch (ObjectDisposedException e)
{
//// see this when steram is closed
LOG.Error("T:" + OutgoingTask_.Id + " Probably closed outgoing Stream_: (ODE)" + e.Message);
}
catch (NullReferenceException e)
{
LOG.Error("T:" + OutgoingTask_ + " Caught Null Reference when sending message", e);
}
catch (IOException e)
{
LOG.Error("T:" + OutgoingTask_.Id + " Probably aborted incoming: (" + e.GetType() + ")" + e.Message);
LOG.Error("T:" + OutgoingTask_.Id + e.StackTrace);
}
catch (Exception e)
{
LOG.Error("T:" + OutgoingTask_.Id + " Probably stopping outgoing: (" + e.GetType() + ")" + e.Message);
}
finally
{
// we don't play swith Stream_ since we didn't create it
LOG.Debug("T:" + OutgoingTask_.Id + " Throwing thread cancel to make sure outgoing thread stopped");
// this is redundant if we got here because of thread stop
this.CancelTokenSource_.Cancel();
// debugger will always stop here in unit tests if test dynamically determines what Port_ ot use
// just hit continue in the debugger
this.CancelTokenSource_.Token.ThrowIfCancellationRequested();
// should tell OutProt_ to shut down
this.OutProt_ = null;
this.OutgoingTask_ = null;
}
}
