/// <summary>
/// Send a command to the device
/// </summary>
/// <typeparam name="T">The struct to use for parameters</typeparam>
/// <param name="command">Command to execute</param>
/// <param name="payload">Command parameter data to send</param>
//protected override void SendPacket<T>(byte command, T payload)
//{
// if (!Connected)
// throw new Exception("Controller is not connected");
// try
// {
// byte[] packet = HexProtocol.CreatePacket<T>(command, payload);
// WritePacket(packet);
// }
// catch (Exception ex)
// {
// Disconnect();
// throw new ControllerConnectionException("Connection to controller lost", innerException:ex);
// }
//}
protected override void SendPacket(byte command, byte[] payload = null)
{
if (!Connected)
{
throw new Exception("Controller is not connected");
}
try
{
byte[] packet = HexProtocol.CreatePacket(command, payload);
WritePacket(packet);
}
catch (Exception ex)
{
Disconnect();
throw new ControllerConnectionException("Connection to controller lost", innerException: ex);
}
}
/// <summary>
/// Wait for a reply from the device, after sending a command.
/// If the command is not what was expected, an exception is raised.
/// </summary>
/// <param name="expected_command">The command that is expected</param>
/// <returns>Raw payload bytes</returns>
protected override byte[] ReadReply(byte expected_command)
{
try {
byte[] response = ReceiveFrame();
byte command;
byte[] payload;
HexProtocol.ParsePacket(response, out command, out payload);
if (command != expected_command)
{
throw new HLDCProtocolException("Unexpected or invalid reply received");
}
return(payload);
}
catch (Exception ex)
{
Disconnect();
throw new ControllerConnectionException("Connection to controller lost", innerException: ex);
}
}
/// <summary>
/// Wait for a reply from the device, after sending a command.
/// If the command is not what was expected, an exception is raised.
/// </summary>
/// <param name="expected_command">The command that is expected</param>
/// <returns>Raw payload bytes</returns>
protected override byte[] ReadReply(byte expected_command)
{
try
{
byte[] response = ReceiveFrame();
byte command;
byte[] payload;
HexProtocol.ParsePacket(response, out command, out payload);
// Detect packet loss
if (command == 0x00)
{
throw new HLDCProtocolException("No response from the device - packet was lost?");
}
// Detect mismatched/corrupt packet
if (command != expected_command)
{
throw new HLDCProtocolException(String.Format(
"Unexpected or invalid reply received (Expected: 0x{0:X2}, Got: 0x{1:X2})",
expected_command, command));
}
return(payload);
}
catch (HLDCProtocolException ex)
{
// Packet error, allow TransferPacket to retry
throw;
}
catch (Exception ex)
{
Disconnect();
throw new ControllerConnectionException("Connection to controller lost", innerException: ex);
}
}
