From dd355b493102492ae52845ffe76f4f2c1d8d8090 Mon Sep 17 00:00:00 2001
From: BjAlvestad <40029656+BjAlvestad@users.noreply.github.com>
Date: Thu, 6 Jun 2019 11:23:47 +0200
Subject: [PATCH] Adds refrence to issue #4 in GitHub issues tracker

---
 .../Communication/Simulator/SimulatedLidarPacketReceiver.cs   | 2 +-
 .../Communication/Simulator/SimulatedVehicleCommunication.cs  | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/SensorVehicle-main/Communication/Simulator/SimulatedLidarPacketReceiver.cs b/SensorVehicle-main/Communication/Simulator/SimulatedLidarPacketReceiver.cs
index a4548ef..b547023 100644
--- a/SensorVehicle-main/Communication/Simulator/SimulatedLidarPacketReceiver.cs
+++ b/SensorVehicle-main/Communication/Simulator/SimulatedLidarPacketReceiver.cs
@@ -31,7 +31,7 @@ private float[] GetDistancesFromSimulator()
         {
             ValueSet valuesToSend = new ValueSet {{"LIDAR", ""}};
 
-            ValueSet dataReceived = Task.Run(() => _simulatorCommunication.RequestDataAsync(valuesToSend)).GetAwaiter().GetResult(); //TODO: This is a temporary hack that blocks the async method. WARNING MAY CAUSE ISSUES!. See if Read() can be rewritten to be async.  See Figure 7 "The Thread Pool Hack" on https://msdn.microsoft.com/en-us/magazine/mt238404.aspx
+            ValueSet dataReceived = Task.Run(() => _simulatorCommunication.RequestDataAsync(valuesToSend)).GetAwaiter().GetResult(); //TODO: (ref. issue #4) This is a temporary hack that blocks the async method. WARNING MAY CAUSE ISSUES!. See if Read() can be rewritten to be async.  See Figure 7 "The Thread Pool Hack" on https://msdn.microsoft.com/en-us/magazine/mt238404.aspx
 
             return dataReceived["DATA"] as float[];
         }
diff --git a/SensorVehicle-main/Communication/Simulator/SimulatedVehicleCommunication.cs b/SensorVehicle-main/Communication/Simulator/SimulatedVehicleCommunication.cs
index ebdb0de..6aaaefc 100644
--- a/SensorVehicle-main/Communication/Simulator/SimulatedVehicleCommunication.cs
+++ b/SensorVehicle-main/Communication/Simulator/SimulatedVehicleCommunication.cs
@@ -32,7 +32,7 @@ public void Write(MessageCode message, params int[] data)
             valuesToSend.Add("NUM_OF_INTS", data.Length);
             valuesToSend.Add("DATA", data);
 
-            _simulatorCommunication.SendMessageAsync(valuesToSend);  //BUG: Since this async task is not awaited, it will swallow any exception. E.g. a failed write for setting wheel speed will never throw exception in Wheel classes TryCatch block.
+            _simulatorCommunication.SendMessageAsync(valuesToSend);  //BUG: (ref. issue #4) Since this async task is not awaited, it will swallow any exception. E.g. a failed write for setting wheel speed will never throw exception in Wheel classes TryCatch block.
         }
 
         public VehicleDataPacket Read()
@@ -41,7 +41,7 @@ public VehicleDataPacket Read()
             valuesToSend.Add("ADDRESS", (int)_simulatedDevice);
             valuesToSend.Add("REQUEST", "");
 
-            ValueSet dataReceived = Task.Run(() => _simulatorCommunication.RequestDataAsync(valuesToSend)).GetAwaiter().GetResult(); //TODO: This is a temporary hack that blocks the async method. WARNING MAY CAUSE ISSUES!. See if Read() can be rewritten to be async.  See Figure 7 "The Thread Pool Hack" on https://msdn.microsoft.com/en-us/magazine/mt238404.aspx
+            ValueSet dataReceived = Task.Run(() => _simulatorCommunication.RequestDataAsync(valuesToSend)).GetAwaiter().GetResult(); //TODO: (ref. issue #4) This is a temporary hack that blocks the async method. WARNING MAY CAUSE ISSUES!. See if Read() can be rewritten to be async.  See Figure 7 "The Thread Pool Hack" on https://msdn.microsoft.com/en-us/magazine/mt238404.aspx
 
             NewDataReceived?.Invoke(this, EventArgs.Empty);