public static bool TryParse(byte[] bytes, out MoCoBusFrame frame)
{
frame = null;
if (bytes.Length < 10) return false;
if (bytes[0] != 0 || bytes[1] != 0 || bytes[2] != 0 || bytes[3] != 0 || bytes[4] != 0) return false;
if (bytes[5] != 0xff) return false;
if (bytes[9] != (bytes.Length - 10)) return false;
switch (bytes[7])
{
case 0:
frame = new MoCoBusMainCommandFrame(bytes[6], (MoCoBusMainCommand)bytes[8], bytes.Skip(10).ToArray());
return true;
case 1:
case 2:
case 3:
frame = new MoCoBusMotorCommandFrame(bytes[6], bytes[7], (MoCoBusMotorCommand)bytes[8], bytes.Skip(10).ToArray());
return true;
case 4:
frame = new MoCoBusCameraCommandFrame(bytes[6], (MoCoBusCameraCommand)bytes[8], bytes.Skip(10).ToArray());
return true;
default:
frame = new MoCoBusFrame(bytes[6], bytes[7], bytes[8], bytes.Skip(10).ToArray());
return true;
}
}
public virtual async Task<MoCoBusFrame> SendAndReceiveAsync(MoCoBusFrame frame, CancellationToken token)
{
using (await _mutex.LockAsync(token).ConfigureAwait(false))
{
for (var retry = 0; retry < MaxRetry; retry++)
{
token.ThrowIfCancellationRequested();
try
{
ClearReceiveBuffer();
Send(frame);
var result = await ReceiveAsync(CancellationToken.None).ConfigureAwait(false);
if (_retryCounter > 0)
{
_retryCounter--;
}
return result;
}
catch (TimeoutException)
{
Debug.WriteLine("SendAndReceiveAsync: Timeout! (Counter: {0})", _retryCounter);
if (_retryCounter < 1000)
{
_retryCounter += 5;
}
if (_retryCounter >= 100)
{
Debug.WriteLine("RetryCounter >= 100 ({0}): Try to reconnect!", _retryCounter);
Insights.Track("MoCoBusCommServiceBaseRetryCounterOverrun",
new Dictionary<string, string>
{
{ "RetryCounter", _retryCounter.ToString() }
});
_retryCounter = 0;
Disconnect();
await Task.Delay(500).ConfigureAwait(false);
break;
}
}
await Task.Delay(50).ConfigureAwait(false);
Debug.WriteLine("SendAndReceiveAsync: Retry!");
}
}
throw new TimeoutException();
}
public abstract void Send(MoCoBusFrame frame);
public virtual async Task<MoCoBusFrame> SendAndReceiveAsync(MoCoBusFrame frame)
{
return await SendAndReceiveAsync(frame, CancellationToken.None).ConfigureAwait(false);
}
public override void Send(MoCoBusFrame frame)
{
if (!IsConnected || _moCoBusTxCharacteristic == null)
return;
_moCoBusTxCharacteristic.Write(frame.ToByteArray());
}
