MissionPlanner.MainV2.PluginThread C# (CSharp) 메소드

        private void PluginThread()
        {
            Hashtable nextrun = new Hashtable();

            pluginthreadrun = true;

            PluginThreadrunner.Reset();

            while (pluginthreadrun)
            {
                try
                {
                    lock (Plugin.PluginLoader.Plugins)
                    {
                        foreach (var plugin in Plugin.PluginLoader.Plugins)
                        {
                            if (!nextrun.ContainsKey(plugin))
                                nextrun[plugin] = DateTime.MinValue;

                            if (DateTime.Now > plugin.NextRun)
                            {
                                // get ms till next run
                                int msnext = (int) (1000/plugin.loopratehz);
                                // allow the plug to modify this, if needed
                                plugin.NextRun = DateTime.Now.AddMilliseconds(msnext);

                                try
                                {
                                    bool ans = plugin.Loop();
                                }
                                catch (Exception ex)
                                {
                                    log.Error(ex);
                                }
                            }
                        }
                    }
                }
                catch
                {
                }

                // max rate is 100 hz - prevent massive cpu usage
                System.Threading.Thread.Sleep(10);
            }

            while (Plugin.PluginLoader.Plugins.Count > 0)
            {
                var plugin = Plugin.PluginLoader.Plugins[0];
                try
                {
                    plugin.Exit();
                }
                catch (Exception ex)
                {
                    log.Error(ex);
                }
                Plugin.PluginLoader.Plugins.Remove(plugin);
            }

            PluginThreadrunner.Set();

            return;
        }