/// <summary>
/// Send packet. If sender is busy, than it waits 100ms before reporting send failure.
/// </summary>
/// <param name="in_packet">Packet to send</param>
/// <param name="in_packet_length">Length of the packet in bytes</param>
/// <returns>True if sending started, false if sending can't be started</returns>
public bool SendPacket(byte[] in_packet, int in_packet_length)
{
int source_pos;
if (m_serial_port == null)
{
return(false);
}
// accuire sender lock
if (m_sender_lock.Wait(100))
{
// SLIP encode block
m_transmit_data_length = 0;
source_pos = 0;
SLIP.EncodeBlock(in_packet, ref source_pos, in_packet_length, m_transmit_buffer, ref m_transmit_data_length, SLIP.EncoderFlags.StorePacketStart | SLIP.EncoderFlags.StorePacketEnd);
// Begin sending the data to the remote device.
try
{
m_serial_port.BaseStream.BeginWrite(m_transmit_buffer, 0, m_transmit_data_length, m_transmitter_callback, this);
return(true);
}
catch
{
// stop thread because of the unexpected error
m_stop_requested = true;
m_thread_event.Set();
}
}
return(false);
}
/// <summary>
/// Default constructor
/// </summary>
public UARTCommunicator()
{
m_thread_stopped = new ManualResetEvent(false);
m_sender_lock = new SemaphoreSlim(1, 1);
m_thread_event = new AutoResetEvent(false);
m_stop_requested = false;
m_thread = null;
m_receive_data_buffer = new byte[ReceiveBufferSize];
m_receive_packet_buffer = new byte[ReceiveBufferSize];
m_received_data_length = 0;
m_transmit_buffer = new byte[TransmitBufferSize];
m_receiver_slip = new SLIP();
m_receiver_callback = new AsyncCallback(ReceiveCallback);
m_transmitter_callback = new AsyncCallback(SendCallback);
}
