private async Task SendOrThrow(UplinkMessage msg)
{
var status = await _bluetera.SendMessage(msg);
if (!status)
{
throw new BlueteraException($"Operation failed.");
}
}
private static async Task <bool> StopImu()
{
UplinkMessage stopImuMsg = new UplinkMessage()
{
Imu = new ImuCommand()
{
Stop = true
}
};
return(await device.SendMessage(stopImuMsg));
}
private async Task StopImu()
{
UplinkMessage msg = new UplinkMessage()
{
Imu = new ImuCommand()
{
Stop = true
}
};
await SendOrThrow(msg);
}
private static async Task <bool> SendEcho()
{
UplinkMessage msg = new UplinkMessage()
{
Echo = new EchoPayload()
{
Value = 9
}
};
return(await device.SendMessage(msg));
}
private async Task StartImu()
{
UplinkMessage msg = new UplinkMessage()
{
Imu = new ImuCommand
{
Start = new ImuStart()
{
DataTypes = (uint)(ImuDataType.Accelerometer | ImuDataType.Quaternion), // ImuDataType are enum flags - logically 'OR' to combine several types
Odr = _odr, // Output Data Rate [Hz] - see note (1) at the end of this file before changing this value
AccFsr = 4, // Acceleromenter Full Scale Range [g]
GyroFsr = 500 // Gyroscope Full Scale Range [deg/sec]
}
}
};
await SendOrThrow(msg);
}
public async Task <bool> SendMessage(UplinkMessage msg)
{
var stream = new MemoryStream();
msg.WriteDelimitedTo(stream);
if (stream.Position > 0)
{
byte[] buf = stream.ToArray();
GattCommunicationStatus status = await _busRxChar.WriteValueAsync(stream.ToArray().AsBuffer());
return((status == GattCommunicationStatus.Success) ? true : false);
}
else
{
throw new ArgumentException("Invalid UplinkMessage");
}
}
private static async Task <bool> StartImu()
{
UplinkMessage msg = new UplinkMessage()
{
Imu = new ImuCommand
{
Start = new ImuStart()
{
DataTypes = (uint)ImuDataType.Quaternion, // ImuDataType are enum flags - logically 'OR' to combine several types
Odr = 50, // Output Data Rate [Hz]
AccFsr = 4, // Acceleromenter Full Scale Range [g]
GyroFsr = 500 // Gyroscope Full Scale Range [deg/sec]
}
}
};
return(await device.SendMessage(msg));
}
public Task <bool> SendMessage(UplinkMessage msg)
{
var stream = new MemoryStream();
msg.WriteDelimitedTo(stream);
if (stream.Position > 0)
{
byte[] buf = stream.ToArray();
return(Task.Factory.StartNew(() =>
{
NativeSdkWrapper.StatusCode status = NativeSdkWrapper.Write(Address, buf, (ushort)buf.Length);
return (status == NativeSdkWrapper.StatusCode.Success);
}));
}
else
{
throw new ArgumentException("Invalid UplinkMessage");
}
}
