private void AddDevice(SerialPortManager.SerialPortInfo port, DeviceModelBase device)
{
if (connected.ContainsKey(port))
{
return;
}
connected.Add(port, device);
OnDeviceConnected(new DeviceEventArgs(device));
}
private async Task <DeviceModelBase> Connect(SerialPortManager.SerialPortInfo port, CancellationToken ct)
{
DeviceModelBase device = null;
SerialMavlinkLayer mavlink = new SerialMavlinkLayer(port.Device);
Msg_configuration_control configCMD = new Msg_configuration_control();
configCMD.command = (byte)CONFIG_COMMAND.CONFIG_COMMAND_GET_VERSION;
Msg_data_transmission_handshake handshake = new Msg_data_transmission_handshake();
PacketReceivedEventHandler pr = (o, e) =>
{
if (e.Message.GetType() == typeof(Msg_configuration_version2))
{
Msg_configuration_version2 msg = e.Message as Msg_configuration_version2;
device = new AnySense(mavlink, msg.fw_version);
}
else if (e.Message.GetType() == typeof(Msg_configuration_version3))
{
Msg_configuration_version3 msg = e.Message as Msg_configuration_version3;
switch (msg.hw_version)
{
case 1:
device = new AnySensePro(mavlink, msg.fw_version);
break;
default:
break;
}
}
};
mavlink.PacketReceived += pr;
do
{
ct.ThrowIfCancellationRequested();
mavlink.SendMessage(configCMD);
await Task.Delay(500, ct);
} while (device == null);
mavlink.PacketReceived -= pr;
if (device == null)
{
try{
mavlink.Dispose();
}
catch { }
}
return(device);
}
private async void StartPollDevice(SerialPortManager.SerialPortInfo port)
{
if (!isPolling)
{
return;
}
if (tasks.ContainsKey(port))
{
return;
}
if (filters.Count > 0)
{
bool match = false;
foreach (string filter in filters)
{
if (port.Description.ToLower().Contains(filter.ToLower()))
{
match = true;
break;
}
}
if (!match)
{
return;
}
}
tasks.Add(port, new CancellationTokenSource());
try
{
DeviceModelBase device = await Connect(port, tasks[port].Token);
if (device != null)
{
AddDevice(port, device);
}
}
catch { }
tasks.Remove(port);
}
public DeviceEventArgs(DeviceModelBase device)
{
Device = device;
}
