public SbepMessage ReceiveSbep()
{
var i = 0;
SbepMessage message = null;
var sw = Stopwatch.StartNew();
while (sw.ElapsedMilliseconds < 2000 && i < _receiveBuffer.Length)
{
var avail = _port.BytesToRead;
if (avail == 0)
{
Thread.Sleep(20);
continue; //Don't restart stopwatch.
}
_port.Read(_receiveBuffer, i, avail);
i += avail;
message = new SbepMessage(_receiveBuffer, i);
if (!message.Incomplete)
{
break;
}
sw.Restart(); //Give some more time for bytes
}
return(message);
}
public void SendSbep(SbepMessage message)
{
int attempts = 0;
while (true)
{
_port.DiscardInBuffer();
_port.DiscardOutBuffer();
var packetSize = message.Bytes.Length;
_port.Write(message.Bytes, 0, packetSize);
if (!message.ExpectAck)
{
return;
}
//Wait for response
var sw = Stopwatch.StartNew();
int ack = 0;
while (sw.ElapsedMilliseconds < 1000)
{
if (_port.BytesToRead < 1)
{
Thread.Sleep(10);
continue;
}
ack = _port.ReadByte(); break;
}
if (ack == 0x50)
{
return;
}
if (attempts == 4)
{
throw new Exception("The radio failed to acknowledge command. Try power cycling the radio and running the operation again.");
}
Thread.Sleep(500);
attempts++;
}
}