/// <summary>
/// Write Data Packet
/// </summary>
/// <param name="data"></param>
/// <param name="timestamp"></param>
/// <returns></returns>
public virtual PortSet <DefaultSubmitResponseType, Fault> WriteData(byte[] data, System.DateTime timestamp)
{
stream.StreamData body = new stream.StreamData(data, timestamp);
stream.WriteData op = new stream.WriteData(body);
this.PostUnknownType(op);
return(op.ResponsePort);
}
public virtual IEnumerator<ITask> WriteDataHandler(stream.WriteData submit)
{
if (submit == null || submit.Body == null || submit.Body.Data == null)
{
submit.ResponsePort.Post(Fault.FromException(new InvalidOperationException("Invalid data sent to the iRobot.")));
yield break;
}
if (_serialPort == null || !_serialPort.IsOpen)
{
submit.ResponsePort.Post(Fault.FromException(new InvalidOperationException("Attempting to send a command before the iRobot Connection has been established.")));
yield break;
}
if (_iRobotConnection.ConnectionType == roomba.iRobotConnectionType.RooTooth
&& !_serialPort.CtsHolding
&& !_serialPort.DsrHolding)
{
string errorMessage = "The Bluetooth serial port is paired to a device,\r\n"
+ " but the Rootooth may not be connected.\r\n";
LogWarning(LogGroups.Console, errorMessage);
if (!_state.Initialized)
{
submit.ResponsePort.Post(Fault.FromException(new System.IO.IOException(errorMessage)));
yield break;
}
}
try
{
_serialPort.Write(submit.Body.Data, 0, submit.Body.Data.Length);
}
catch (Exception ex)
{
_state.Initialized = false;
LogError(LogGroups.Console, ex);
submit.ResponsePort.Post(Fault.FromException(ex));
yield break;
}
submit.ResponsePort.Post(DefaultSubmitResponseType.Instance);
yield break;
}