public byte[] ToByteArray()
{
var outputBuffer = new WireBuffer(Body.Data.Length + 8);
// For general protocol doc this is written against, see https://github.com/madcowswe/ODrive/blob/1294ddff1dd0619e9f098ce12ca0936670a5b405/docs/protocol.md
// Bytes 0, 1 Sequence number, MSB = 0
// Bytes 2, 3 Endpoint ID
// Bytes 4, 5 Expected response size
// Bytes 6 to N-3 Payload
// Bytes N-2, N-1 signature, depends on endpoint
outputBuffer
.Write(EncodedSequenceNumber)
.Write(EncodedEndpointID)
.Write(ExpectedResponseSize)
.Write(Body.Data)
.Write(Signature);
return(outputBuffer.Data);
}
public async Task <byte[]> RequestBufferSegment(
uint payloadOffset = 0,
CancellationToken parentCancellationToken = default(CancellationToken),
Policy requestPolicy = null)
{
var policyToUse = requestPolicy ?? StandardTimeoutWaitAndRetryPolicy.Value;
return(await policyToUse.ExecuteAsync(async cancellationToken =>
{
var taskCompletionSource = new TaskCompletionSource <byte[]>();
byte[] cumulativeResponse = new byte[0];
var request = new Request(
sequenceNumber: sequenceCounter.NextValue(),
endpointID: 0,
expectedResponseSize: 32,
requestACK: true,
populateBody: () =>
{
var wireBuffer = new WireBuffer(4);
wireBuffer.Write(payloadOffset);
return wireBuffer;
},
responseCallback: res =>
{
var responseBytes = res.Body.Data;
taskCompletionSource.SetResult(responseBytes);
},
signature: Config.USB_PROTOCOL_VERSION,
cancellationToken: cancellationToken
);
SendRequest(request);
return await taskCompletionSource.Task.ConfigureAwait(false);
}, parentCancellationToken).ConfigureAwait(false));
}
public async Task <T> RequestResponse <T>(
ushort endpointID,
T value,
CancellationToken parentCancellationToken = default(CancellationToken),
Policy requestPolicy = null)
{
var policyToUse = requestPolicy ?? StandardTimeoutWaitAndRetryPolicy.Value;
return(await policyToUse.ExecuteAsync(async cancellationToken =>
{
var taskCompletionSource = new TaskCompletionSource <T>();
var dataSize = (ushort)Marshal.SizeOf(typeof(T));
WireBuffer requestBuffer = null;
requestBuffer = new WireBuffer(dataSize);
requestBuffer.Write(value);
var request = new Request(
sequenceNumber: sequenceCounter.NextValue(),
endpointID: endpointID,
expectedResponseSize: dataSize,
requestACK: true,
populateBody: () => requestBuffer,
responseCallback: res =>
{
var responseData = res.Body.Read <T>();
taskCompletionSource.SetResult(responseData);
},
signature: SchemaChecksum ?? Config.USB_PROTOCOL_VERSION,
cancellationToken: cancellationToken
);
SendRequest(request);
return await taskCompletionSource.Task.ConfigureAwait(false);
}, parentCancellationToken).ConfigureAwait(false));
}