static void doread(object o)
{
lock (runlock)
{
running++;
}
var portname = (string)o;
Console.WriteLine("Scanning {0}", portname);
try
{
SerialPort port = new SerialPort();
{
port.PortName = portname;
foreach (var baud in bauds)
{
// try default baud
if (baud != 0)
{
port.BaudRate = baud;
}
port.Open();
port.DiscardInBuffer();
// let data flow in
Thread.Sleep(2000);
lock (runlock)
{
if (run == 0)
{
port.Close();
return;
}
}
int available = port.BytesToRead;
var buffer = new byte[available];
int read = port.Read(buffer, 0, available);
Console.WriteLine("{0} {1}", portname, read);
if (read > 0)
{
using (MemoryStream ms = new MemoryStream(buffer, 0, read))
{
MAVLink.MavlinkParse mav = new MAVLink.MavlinkParse();
try
{
again:
var packet = mav.ReadPacket(ms);
if (packet != null && packet.Length > 0)
{
port.Close();
Console.WriteLine("Found Mavlink on port {0} at {1}", port.PortName,
port.BaudRate);
foundport = true;
portinterface.Add(port);
if (connect)
{
doconnect(port);
}
break;
}
Console.WriteLine(portname + " crc: " + mav.badCRC);
goto again;
}
catch (Exception ex)
{
Console.WriteLine(portname + " " + ex.ToString());
}
}
}
try
{
port.Close();
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
if (foundport)
{
break;
}
}
}
}
catch (Exception ex)
{
Console.WriteLine(portname + " " + ex.ToString());
}
finally
{
lock (runlock)
{
running--;
if (running == 0)
{
run = 0;
}
}
}
Console.WriteLine("Scan port {0} Finished!!", portname);
}
