private static void mainloop()
{
DateTime lastrecv = DateTime.MinValue;
threadrun = true;
bool isrtcm = false;
bool issbp = false;
int reconnecttimeout = 10;
while (threadrun)
{
try
{
// reconnect logic - 10 seconds with no data, or comport is closed
try
{
if ((DateTime.Now - lastrecv).TotalSeconds > reconnecttimeout || !comPort.IsOpen)
{
if (comPort is CommsNTRIP || comPort is UdpSerialConnect || comPort is UdpSerial)
{
}
else
{
log.Warn("Reconnecting");
// close existing
comPort.Close();
// reopen
comPort.Open();
}
// reset timer
lastrecv = DateTime.Now;
}
}
catch
{
log.Error("Failed to reconnect");
// sleep for 10 seconds on error
System.Threading.Thread.Sleep(10000);
}
// limit to 110 byte packets
byte[] buffer = new byte[110];
// limit to 180 byte packet if using new packet
if (rtcm_msg)
{
buffer = new byte[180];
}
while (comPort.BytesToRead > 0)
{
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
{
lastrecv = DateTime.Now;
}
bytes += read;
bps += read;
try
{
if (basedata != null)
{
basedata.Write(buffer, 0, read);
}
}
catch
{
}
// if this is raw data transport of unknown packet types
if (!(isrtcm || issbp))
{
sendData(buffer, (byte)read);
}
// check for valid rtcm/sbp/ubx packets
for (int a = 0; a < read; a++)
{
int seenmsg = -1;
// rtcm
if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
{
sbp.resetParser();
ubx_m8p.resetParser();
nmea.resetParser();
isrtcm = true;
sendData(rtcm3.packet, (byte)rtcm3.length);
bpsusefull += rtcm3.length;
string msgname = "Rtcm" + seenmsg;
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
ExtractBasePos(seenmsg);
seenRTCM(seenmsg);
}
// sbp
if ((seenmsg = sbp.read(buffer[a])) > 0)
{
rtcm3.resetParser();
ubx_m8p.resetParser();
nmea.resetParser();
issbp = true;
sendData(sbp.packet, (byte)sbp.length);
bpsusefull += sbp.length;
string msgname = "Sbp" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
// ubx
if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
{
rtcm3.resetParser();
sbp.resetParser();
nmea.resetParser();
ProcessUBXMessage();
string msgname = "Ubx" + seenmsg.ToString("X4");
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
// nmea
if ((seenmsg = nmea.Read(buffer[a])) > 0)
{
rtcm3.resetParser();
sbp.resetParser();
ubx_m8p.resetParser();
string msgname = "NMEA";
if (!msgseen.ContainsKey(msgname))
{
msgseen[msgname] = 0;
}
msgseen[msgname] = (int)msgseen[msgname] + 1;
}
}
}
System.Threading.Thread.Sleep(10);
}
catch (Exception ex)
{
log.Error(ex);
}
}
}
private void mainloop()
{
DateTime lastrecv = DateTime.MinValue;
threadrun = true;
bool isrtcm = false;
bool issbp = false;
while (threadrun)
{
try
{
// reconnect logic - 10 seconds with no data, or comport is closed
try
{
if ((DateTime.Now - lastrecv).TotalSeconds > 10 || !comPort.IsOpen)
{
log.Info("Reconnecting");
// close existing
comPort.Close();
// reopen
comPort.Open();
// reset timer
lastrecv = DateTime.Now;
}
}
catch
{
log.Error("Failed to reconnect");
// sleep for 10 seconds on error
System.Threading.Thread.Sleep(10000);
}
// limit to 110 byte packets
byte[] buffer = new byte[110];
// limit to 180 byte packet if using new packet
if (rtcm_msg)
{
buffer = new byte[180];
}
while (comPort.BytesToRead > 0)
{
int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));
if (read > 0)
{
lastrecv = DateTime.Now;
}
bytes += read;
bps += read;
if (!(isrtcm || issbp))
{
sendData(buffer, (byte)read);
}
// check for valid rtcm packets
for (int a = 0; a < read; a++)
{
int seen = -1;
// rtcm
if ((seen = rtcm3.Read(buffer[a])) > 0)
{
isrtcm = true;
sendData(rtcm3.packet, (byte)rtcm3.length);
if (!msgseen.ContainsKey(seen))
{
msgseen[seen] = 0;
}
msgseen[seen] = (int)msgseen[seen] + 1;
ExtractBasePos(seen);
}
// sbp
if ((seen = sbp.read(buffer[a])) > 0)
{
issbp = true;
sendData(sbp.packet, (byte)sbp.length);
if (!msgseen.ContainsKey(seen))
{
msgseen[seen] = 0;
}
msgseen[seen] = (int)msgseen[seen] + 1;
}
// ubx
if ((seen = ubx_m8p.Read(buffer[a])) > 0)
{
ProcessUBXMessage();
if (!msgseen.ContainsKey(seen))
{
msgseen[seen] = 0;
}
msgseen[seen] = (int)msgseen[seen] + 1;
}
}
}
System.Threading.Thread.Sleep(10);
}
catch (Exception ex)
{
log.Error(ex);
}
}
}