/// <inheritdoc />
public void Send(string serialNumber, ICommandList commands)
{
if (!commands.CanSend)
{
InvalidOperationException e = new("CommandList was not made ready before Send was called");
_logger.LogError(e, "Send failed.");
throw e;
}
Location?location = _devices.GetLocation(serialNumber);
if (location == null)
{
throw new InvalidOperationException("Location was null when sending to serial number.");
}
lock (_deviceLocker[location.Value])
{
const int delayInMilliseconds = 10;
double?millisecondsSinceLastSend = null;
if (_lastSends.ContainsKey(location.Value))
{
millisecondsSinceLastSend = (DateTime.UtcNow - _lastSends[location.Value]).TotalMilliseconds;
}
if (millisecondsSinceLastSend != null && millisecondsSinceLastSend < delayInMilliseconds)
{
Thread.Sleep(delayInMilliseconds - (int)millisecondsSinceLastSend);
}
_ = _devices.TryGetValue(location.Value, out IUsbDevice? device);
if (device == null)
{
_logger.LogCritical("Device was null when getting it using location.");
return;
}
bool shouldRetry = false;
int retryCount = 0;
int currentFrameNumber = 0;
Error writeResult = Error.Other;
do
{
for (int frameNumber = currentFrameNumber; frameNumber < commands.TotalFrames;)
{
// Generate the write buffer and write to PM
byte[] writeBuffer = commands.GetFrame(frameNumber).Select(b => (byte)b).ToArray();
UsbEndpointWriter writer = device.OpenEndpointWriter(LibUsbDotNet.Main.WriteEndpointID.Ep02);
try
{
writeResult = writer.Write(writeBuffer, 100, out int writeBufferSize);
if (writeResult == Error.Io)
{
CloseAndOpen(device);
shouldRetry = retryCount++ < 2;
continue;
}
shouldRetry = false;
frameNumber++;
}
catch (Exception e)
{
_logger.LogWarning(e, "Exception occurred during writing. Buffer: [{WriteBuffer}]", writeBuffer);
}
finally
{
_lastSends[location.Value] = DateTime.UtcNow;
}
}
} while (shouldRetry);
if (writeResult != Error.Success)
{
_logger.LogWarning("An error occurred while writing. Result: [{WriteResult}])", writeResult);
return;
}
byte[] readBuffer = new byte[1024];
Error readResult = Error.Other;
retryCount = 0;
shouldRetry = false;
do
{
UsbEndpointReader reader = device.OpenEndpointReader(LibUsbDotNet.Main.ReadEndpointID.Ep01);
try
{
readResult = reader.Read(readBuffer, 100, out int responseDataSize);
if (readResult == Error.Io)
{
CloseAndOpen(device);
shouldRetry = retryCount++ < 2;
continue;
}
if (commands.TotalFrames > 1)
{
// This is required if there was more than one packet.
// TODO: Improve this so that results from each packet are read in.
reader.ReadFlush();
}
shouldRetry = false;
}
catch (Exception e)
{
_logger.LogWarning(e, "Exception occurred during reading. Buffer: [{ReadBuffer}]", readBuffer);
return;
}
} while (shouldRetry);
if (readResult != Error.Success)
{
_logger.LogWarning("An error occurred while reading. Result: [{ReadResult}])", readResult);
return;
}
IResponseReader responseReader = new ResponseReader(readBuffer.Select(b => (uint)b));
bool responseReaderSuccess = commands.Read(responseReader);
if (!responseReaderSuccess)
{
_logger.LogWarning("An error occurred while consuming the read buffer. Result: [{ResponseReadResult}])", responseReaderSuccess);
return;
}
}
}
