private void TryReceiveData()
{
var numBytesRead = 0;
var data = new byte[ReceiverFraming.FrameLength];
try
{
if (_streamResource.BytesToRead() == 0)
{
Thread.Sleep(CommunicationTasks.ReceivingTaskSleepTime);
}
while (numBytesRead != ReceiverFraming.FrameLength)
{
numBytesRead += _streamResource.Read(data, numBytesRead, ReceiverFraming.FrameLength - numBytesRead);
}
}
catch (Exception e)
{
Logger.Error("Receiver task exception: " + e.Message);
Stop(); // probably the serial port is not opened or not created, there is no reason to continue this task
}
DataReceived?.Invoke(this, new RobotDataReceivedEventArgs {
Data = data
});
}
