// Sends a command and message to controller
public byte[] Send(SerialComm.SerialCommand Command, byte[] Message, UInt16 Timeout)
{
// Set lock so multiple threads don't try to use port at same time
lock (_SendLock)
{
// Create the message to send (frame message)
byte[] serialMessage = MakeMessage(Command, Message);
// Set flags to false
_Responded = false;
_Timedout = false;
// Disable timer while we configure it
_Timer.Stop();
// Attempt to write message
if (_Port.Write(serialMessage))
{
// If sucessful, start timeout
_Timer.Interval = Timeout;
_Timer.Start();
// Loop while we wait for a response or timeout
while (!_Responded && !_Timedout)
{
;
}
// If we got a response, return it
if (_Responded)
{
return(_Response);
}
}
// Otherwise, return null;
return(null);
}
}
private byte[] MakeMessage(SerialComm.SerialCommand Command, byte[] Message)
{
// Stuff command in payload
byte[] rawMessage = new byte[Message.Length + 1];
rawMessage[0] = (byte)Command;
//Array.Copy(rawMessage, 1, Message, 0, Message.Length);
for (int i = 0; i < Message.Length; i++)
{
rawMessage[i + 1] = Message[i];
}
// Send to framer to create full message
return(_Framer.FrameMessage(rawMessage));
}