/// <summary>
/// Request and reply process
/// </summary>
/// <returns>Data of reply</returns>
public object Process()
{
RobotReplyData replyData = null;
if (!SetupConnection())
{
OnProcessError(ErrorCode.SetupConnection, "Setup connection error");
_logger.Error("Cannot connect to robot");
return(null);
}
byte[] packet = BuildRequest();
RobotReply reply = null;
int crcCount = 0;
bool crcError = false;
do
{
crcCount++;
//if (GlobalVariables.Sw != null && GlobalVariables.Sw.IsRunning)
//{
// GlobalVariables.Sw.Stop();
// _logger.Info("1 processing session duration: " + GlobalVariables.Sw.ElapsedMilliseconds);
//}
try
{
Conn.SendPacket(packet);
}
catch (SocketException se)
{
OnProcessError(ErrorCode.SocketException, se.Message);
_logger.Error("SendPacket socket exception: " + se.Message);
return(replyData);
}
// For testing transfer speed
//OnProcessSuccessfully(null);
//return replyData;
try
{
reply = Conn.ReceiveReply();
}
catch (SocketException se)
{
OnProcessError(ErrorCode.SocketException, se.Message);
_logger.Error("ReceiveReply socket exception: " + se.Message);
return(replyData);
}
//if (GlobalVariables.Sw == null || !GlobalVariables.Sw.IsRunning) GlobalVariables.Sw = Stopwatch.StartNew();
if (reply != null)
{
reply.RequestID = RequestID;
replyData = reply.Process();
switch (replyData.Type)
{
case RobotReplyData.ReplyType.Success:
OnProcessSuccessfully(replyData);
_logger.Info("Receive reply from robot: type successfully");
break;
case RobotReplyData.ReplyType.Failed:
OnProcessError(ErrorCode.ReplyFailed, "Reply error");
_logger.Error("Receive reply from robot: type failed");
break;
case RobotReplyData.ReplyType.WrongID:
OnProcessError(ErrorCode.WrongSessionID, "Wrong session ID");
_logger.Error("Receive reply from robot: type wrong session ID");
break;
case RobotReplyData.ReplyType.CRC:
crcError = true;
_logger.Error("Receive reply from robot: type CRC error");
break;
}
}
else
{
OnProcessError(ErrorCode.ReplyNull, "Reply cannot be null");
_logger.Error("Receive reply from robot: reply null");
}
} while (crcCount < WirelessConnection.MaxCrcRetry && crcError);
//ReleaseConnection();
return(replyData);
}
