Animatroller.Framework.Expander.IOExpander.IOExpander C# (CSharp) Method

        public IOExpander(string portName)
            : base(portName, 0)
        {
            this.DigitalInputs = new PhysicalDevice.DigitalInput[3];
            for(int index = 0; index < this.DigitalInputs.Length; index++)
                this.DigitalInputs[index] = new PhysicalDevice.DigitalInput();

            this.DigitalOutputs = new PhysicalDevice.DigitalOutput[4];
            for (int index = 0; index < this.DigitalOutputs.Length; index++)
                WireupOutput(index);

            this.Motor = new PhysicalDevice.MotorWithFeedback((target, speed, timeout) =>
                {
                    SendSerialCommand(string.Format("M,{0},{1},{2:F0},{3:F0}", 1, target, speed * 100, timeout.TotalSeconds));
                });

            this.changedPixels = new HashSet<byte>();
            this.cancelSource = new System.Threading.CancellationTokenSource();
            this.firstChange = new System.Diagnostics.Stopwatch();
            this.pixelData = new byte[4 * 50];
            for (int i = 4; i < this.pixelData.Length; i += 4)
                this.pixelData[i] = 32;

            this.senderTask = new Task(x =>
            {
                byte[] bytesToSend = null;

                while (!this.cancelSource.IsCancellationRequested)
                {
                    lock (lockObject)
                    {
                        if (this.changedPixels.Any())
                        {
                            this.firstChange.Stop();
                            this.sentUpdates++;
                            log.Info("Sending {0} changes to IOExpander. Oldest {1:N2}ms. Recv: {2}   Sent: {3}",
                                this.changedPixels.Count, this.firstChange.Elapsed.TotalMilliseconds,
                                receivedUpdates, sentUpdates);

                            if (this.changedPixels.Count <= 2)
                            {
                                foreach (var channel in this.changedPixels)
                                {
                                    int dataOffset = 1 + channel * 4;

                                    var shortSend = new byte[] { (byte)channel,
                                        this.pixelData[dataOffset + 0],
                                        this.pixelData[dataOffset + 1],
                                        this.pixelData[dataOffset + 2]};

                                    SendSerialCommand((byte)'R', shortSend);
                                }
                            }
                            else
                            {
                                // Send everything
                                bytesToSend = new byte[this.pixelData.Length];
                                Array.Copy(this.pixelData, bytesToSend, this.pixelData.Length);
                            }
                            this.changedPixels.Clear();
                        }
                    }

                    if (bytesToSend != null)
                    {
                        // Takes about 40 ms to send the data for all pixels
                        SendSerialCommand((byte)'R', bytesToSend);
                        bytesToSend = null;
                    } else
                        System.Threading.Thread.Sleep(10);
                }
            }, this.cancelSource.Token, TaskCreationOptions.LongRunning);

            this.senderTask.Start();

            Executor.Current.Register(this);
        }