private void Send(Packet packet)
{
#if DEBUG
using (var stream = new MemoryStream())
{
Serializer.Serialize(stream, Constants.SyncCharacters);
Serializer.Serialize(stream, packet);
var data = stream.ToArray();
Debug.WriteLine($"Sending: {BitConverter.ToString(data)}");
}
#endif
using (var stream = new SerialDeviceStream(_serialDevice))
{
Serializer.Serialize(stream, Constants.SyncCharacters);
Serializer.Serialize(stream, packet);
}
}
private async void ListenAsync(bool once = false)
{
var cancellationToken = _listenCancellationTokenSource.Token;
do
{
using (var stream = new SerialDeviceStream(_serialDevice))
{
var sync1 = new byte[1];
var sync2 = new byte[1];
while (sync2[0] != 0x62)
{
while (sync1[0] != 0xb5)
{
await stream.ReadAsync(sync1, 0, sync1.Length, cancellationToken);
}
await stream.ReadAsync(sync2, 0, sync2.Length, cancellationToken);
}
Debug.WriteLine("Found sync");
var packet = await Serializer.DeserializeAsync <Packet>(stream, cancellationToken)
.ConfigureAwait(false);
Debug.WriteLine($"Recieved {packet.Content.MessageId}");
var messageId = packet.Content.MessageId;
switch (messageId)
{
case MessageId.ACK_ACK:
case MessageId.ACK_NAK:
_commandCompletionSource?.SetResult(packet);
break;
case MessageId.MON_VER:
{
var monVer = (MonVer)packet.Content.Payload;
var extensions = monVer.Extensions;
var protVerExtension =
extensions.FirstOrDefault(
extension => extension.Value.StartsWith(ProtocolVersionExtensionPrefix));
if (protVerExtension != null)
{
var extensionParts = protVerExtension.Value.Split(' ');
var protocolVersion = extensionParts[1];
//_protocolVersionTaskCompletionSource.SetResult(true);
}
break;
}
case MessageId.RXM_RAWX:
{
RawDataProductVariantUpdated?.Invoke(this, new RawMeasurementDataEventArgs((RxmRawx)packet.Content.Payload));
break;
}
case MessageId.NAV_PVT:
{
PositionVelocityTimeUpdated?.Invoke(this,
new PositionVelocityTimeEventArgs((NavPvt)packet.Content.Payload));
break;
}
case MessageId.HNR_PVT:
{
HighNavRatePositionVelocityTimeUpdated?.Invoke(this,
new HighNavRatePositionVelocityTimeEventArgs((HnrPvt)packet.Content.Payload));
break;
}
}
RawPacketHandler?.Invoke(this, new RawPacketHandlerEventArgs(messageId, packet.Content.Payload));
}
} while (!cancellationToken.IsCancellationRequested && !once);
}