/// <summary>
/// Open the connection
/// </summary>
public override void Open()
{
bool hasError = false;
try
{
device = HidApiNative.hid_open(this.vendorId, this.productId, IntPtr.Zero);
if (device != IntPtr.Zero)
{
HidApiNative.hid_set_nonblocking(device, 0);
}
else
{
hasError = true;
}
}
catch (Exception e) {
throw new ConnectionException(ConnectionError.OpenError, e);
}
if (hasError)
{
throw new ConnectionException(ConnectionError.OpenError);
}
isConnected = true;
ConnectionWasOpened();
}
/// <summary>
/// Receive a reply
/// </summary>
public override TBrickReply Receive()
{
byte[] reply = null;
IntPtr pnt = IntPtr.Zero;
int bytesRead = 0;
int expectedlength = 0;
bool hasError = false;
try{
byte[] temp = new byte[1024];
pnt = Marshal.AllocHGlobal(Marshal.SizeOf(temp[0]) * 1024);
bytesRead = HidApiNative.hid_read_timeout(device, pnt, 1024, Timeout);
if (bytesRead > 2)
{
Marshal.Copy(pnt, temp, 0, 1024);
expectedlength = (ushort)(0x0000 | temp[0] | (temp[1] << 2));
Marshal.FreeHGlobal(pnt);
pnt = IntPtr.Zero;
reply = new byte[expectedlength];
Array.Copy(temp, 2, reply, 0, expectedlength);
}
else
{
if (pnt != IntPtr.Zero)
{
Marshal.FreeHGlobal(pnt);
pnt = IntPtr.Zero;
}
hasError = true;
}
}
catch (Exception e) {
throw new ConnectionException(ConnectionError.ReadError, e);
}
finally{
if (pnt != IntPtr.Zero)
{
Marshal.FreeHGlobal(pnt);
}
}
if (hasError)
{
if (typeof(TBrickCommand) == typeof(NXT.Command))
{
throw new NXT.BrickException(NXT.BrickError.WrongNumberOfBytes);
}
else
{
throw new EV3.BrickException(EV3.BrickError.WrongNumberOfBytes);
}
}
var brickReply = new TBrickReply();
brickReply.SetData(reply);
ReplyWasReceived(brickReply);
return(brickReply);
}
/// <summary>
/// Close the connection
/// </summary>
public override void Close()
{
try{
if (device != IntPtr.Zero)
{
HidApiNative.hid_close(device);
}
}
catch {}
isConnected = false;
ConnectionWasClosed();
}
/// <summary>
/// Send the specified command.
/// </summary>
/// <param name='command'>
/// Command to send
/// </param>
public override void Send(TBrickCommand command)
{
Exception innerException = null;
int bytesWritten;
byte[] data = null;
ushort length = (ushort)command.Length;
if (addReportId)
{
data = new byte[length + 3];
data[0] = 0x00;
data[1] = (byte)(length & 0x00ff);
data[2] = (byte)((length & 0xff00) >> 2);
Array.Copy(command.Data, 0, data, 3, command.Length);
}
else
{
data = new byte[length + 2];
data[0] = (byte)(length & 0x00ff);
data[1] = (byte)((length & 0xff00) >> 2);
Array.Copy(command.Data, 0, data, 2, command.Length);
}
CommandWasSend(command);
bool hasError = false;
IntPtr pnt = IntPtr.Zero;
try{
int size = Marshal.SizeOf(data[0]) * data.Length;
pnt = Marshal.AllocHGlobal(size);
// Copy the array to unmanaged memory.
Marshal.Copy(data, 0, pnt, data.Length);
bytesWritten = HidApiNative.hid_write(device, pnt, data.Length);
if (!addReportId)
{
if (bytesWritten != data.Length)
{
hasError = true;
}
}
else
{
if (bytesWritten == -1)
{
hasError = true;
}
}
}
catch (Exception e) {
innerException = e;
hasError = true;
}
finally
{
if (pnt != IntPtr.Zero)
{
Marshal.FreeHGlobal(pnt);
}
}
if (hasError)
{
if (innerException != null)
{
throw new ConnectionException(ConnectionError.WriteError, innerException);
}
throw new ConnectionException(ConnectionError.WriteError);
}
}