private VicarMessage _SendRequest(byte command, byte[] data, bool waitForResponse)
{
VicarMessage ret = null;
var seq = _GetNextSequence();
_WriteMessage(command, seq, data);
if (waitForResponse)
{
var timeout = DateTime.Now.AddMilliseconds(_REQUEST_TIMEOUT_MS);
do
{
lock (_receivedMessages)
{
ret = _receivedMessages.Where(t => t.Command == command && t.Sequence == seq).FirstOrDefault();
if (ret != null)
{
_receivedMessages.Remove(ret);
}
}
Thread.Sleep(_SLEEP_MS);
} while (ret == null && DateTime.Now < timeout);
}
if (waitForResponse && ret == null)
{
throw new VicarException(string.Format("Request '{0}' timed out",
ASCIIEncoding.ASCII.GetChars(new byte[] { command }).First()));
}
return(ret);
}
private void _VerifyResponseLength(VicarMessage message, int length)
{
if (message != null)
{
var received = message.Data != null ? message.Data.Length : 0;
if (received < length)
{
throw new VicarException(string.Format("Invalid response length; expected {0}, received {1}",
length, received));
}
}
else
{
throw new VicarException("No response specified");
}
}
private void _VerifyResponseLength(VicarMessage message, int length)
{
if (message != null)
{
var received = message.Data != null ? message.Data.Length : 0;
if (received < length)
{
throw new VicarException(string.Format("Invalid response length; expected {0}, received {1}",
length, received));
}
}
else
{
throw new VicarException("No response specified");
}
}
private bool _HandleIncomingMessage(VicarMessage msg)
{
bool ret;
switch (msg.Command)
{
case (byte)'S':
{
ret = true;
_status = (PeripheralStatus)msg.Data.FirstOrDefault();
break;
}
case (byte)'I':
{
ret = true;
if (IncomingDataReceived != null)
{
IncomingDataReceived(this, new IncomingDataEventArgs((VicarErrorCode)msg.Data[2],
msg.Data[0], msg.Data[1], msg.Data.Skip(3).ToArray()));
}
break;
}
case (byte)'T':
{
ret = true;
var id = Utilities.ToLittleEndianUint(msg.Data, 0);
if (_urbs.ContainsKey(id))
{
_urbs[id].ReceivedData.Add(msg.Data.Skip(6).ToArray());
}
break;
}
case (byte)'B':
{
ret = true;
var id = Utilities.ToLittleEndianUint(msg.Data, 0);
var transferred = Utilities.ToLittleEndianUint(msg.Data, 5);
_MarkUrbComplete(id, (int)transferred);
if (TransferCompleted != null)
{
TransferCompleted(this, new TransferCompleteEventArgs(id,
msg.Data[4], transferred));
}
break;
}
default:
{
ret = false;
break;
}
}
return ret;
}
private bool _HandleIncomingMessage(VicarMessage msg)
{
bool ret;
switch (msg.Command)
{
case (byte)'S':
{
ret = true;
_status = (PeripheralStatus)msg.Data.FirstOrDefault();
break;
}
case (byte)'I':
{
ret = true;
if (IncomingDataReceived != null)
{
IncomingDataReceived(this, new IncomingDataEventArgs((VicarErrorCode)msg.Data[2],
msg.Data[0], msg.Data[1], msg.Data.Skip(3).ToArray()));
}
break;
}
case (byte)'T':
{
ret = true;
var id = Utilities.ToLittleEndianUint(msg.Data, 0);
if (_urbs.ContainsKey(id))
{
_urbs[id].ReceivedData.Add(msg.Data.Skip(6).ToArray());
}
break;
}
case (byte)'B':
{
ret = true;
var id = Utilities.ToLittleEndianUint(msg.Data, 0);
var transferred = Utilities.ToLittleEndianUint(msg.Data, 5);
_MarkUrbComplete(id, (int)transferred);
if (TransferCompleted != null)
{
TransferCompleted(this, new TransferCompleteEventArgs(id,
msg.Data[4], transferred));
}
break;
}
default:
{
ret = false;
break;
}
}
return(ret);
}
