/// <summary>
/// Connect to the EV3 brick.
/// </summary>
/// <returns></returns>
public Task ConnectAsync()
{
FindEv3();
_tokenSource = new CancellationTokenSource();
Task t = Task.Factory.StartNew(async() =>
{
while (!_tokenSource.IsCancellationRequested)
{
// if the stream is valid and ready
if (_stream == null || !_stream.CanRead)
{
continue;
}
await _stream.ReadAsync(_inputReport, 0, _inputReport.Length, _tokenSource.Token);
var size = (short)(_inputReport[1] | _inputReport[2] << 8);
if (size == 0)
{
return;
}
var report = new byte[size];
Array.Copy(_inputReport, 3, report, 0, size);
ReportReceived?.Invoke(this, new ReportReceivedEventArgs {
Report = report
});
}
}, _tokenSource.Token, TaskCreationOptions.LongRunning, TaskScheduler.Current);
return(Task.FromResult(true));
}
void OnReport(HidReport report)
{
ReportReceived?.Invoke(report);
if (Device.IsConnected && Device.IsOpen)
{
Device.ReadReport(OnReport);
}
}
public void Start()
{
string input = string.Empty;
//Print();
while (input.Length == 0)
{
GarminDevice baseStation = null;
var list = GarminDevice.DiscoverDevices();
list.ForEach(f =>
{
var reader = new GarminReader(f);
var info = reader.ReadInfo();
Console.WriteLine(info.Id + ": " + info.Description);
if (baseStation == null && info.SupportedProtocols != null && info.SupportedProtocols.Any(p => p.tag == (byte)'A' && p.data == 1100))
{
baseStation = f;
}
else
{
f.Dispose();
}
});
if (baseStation != null)
{
var reader = new GarminReader(baseStation);
while (true)
{
try
{
var packet = reader.WaitForPacket(3078);
Update(new TrackedAsset(packet.data));
ReportReceived?.Invoke(this, new ReportReceivedEventArgs(new TrackedAsset(packet.data)));
}
catch (Exception e)
{
LogException(e.Message);
}
}
}
Console.WriteLine("Found " + list.Count + " devices. Enter to go again.");
input = Console.ReadLine();
}
}
/// <summary>
/// Connect to the EV3 brick.
/// </summary>
/// <returns></returns>
public async Task ConnectAsync()
{
_client = new TcpClient();
await _client.ConnectAsync(_address, 5555);
_stream = _client.GetStream();
// unlock the brick (doesn't actually need serial number?)
var buff = Encoding.UTF8.GetBytes(UnlockCommand);
await _stream.WriteAsync(buff, 0, buff.Length);
// read the "Accept:EV340\r\n\r\n" response
var read = await _stream.ReadAsync(buff, 0, buff.Length);
var response = Encoding.UTF8.GetString(buff, 0, read);
if (string.IsNullOrEmpty(response))
{
throw new Exception("LEGO EV3 brick did not respond to the unlock command.");
}
_tokenSource = new CancellationTokenSource();
Task t = Task.Factory.StartNew(async() =>
{
while (!_tokenSource.IsCancellationRequested)
{
// if the stream is valid and ready
if (_stream == null || !_stream.CanRead)
{
continue;
}
await _stream.ReadAsync(_sizeBuffer, 0, _sizeBuffer.Length);
var size = (short)(_sizeBuffer[0] | _sizeBuffer[1] << 8);
if (size == 0)
{
return;
}
var report = new byte[size];
await _stream.ReadAsync(report, 0, report.Length);
ReportReceived?.Invoke(this, new ReportReceivedEventArgs {
Report = report
});
}
}, _tokenSource.Token, TaskCreationOptions.LongRunning, TaskScheduler.Current);
}
private void ReadReportCallback(IAsyncResult ar)
{
var stream = (HidStream)ar.AsyncState;
try
{
var res = stream.EndRead(ar);
var data = new byte[res];
Array.Copy(readReportBuffer, 0, data, 0, res);
ReportReceived?.Invoke(this, new ReportReceivedEventArgs(data));
}
catch (Exception ex) when(IsConnectionError(ex))
{
Debug.WriteLine($"EXCEPTION: ({ex.GetType()}) {ex.Message}");
DisposeConnection();
return;
}
BeginWaitRead(stream);
}
public async Task ConnectAsync()
{
try
{
_socket = SelectedDevice.CreateRfcommSocketToServiceRecord(_myUuid);
await _socket.ConnectAsync();
await Task.Run(() =>
{
var reader = new BinaryReader(_socket.InputStream);
while (true)
{
try
{
int size = reader.ReadInt16();
var b = reader.ReadBytes(size);
ReportReceived?.Invoke(this, new ReportReceivedEventArgs {
Report = b
});
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
break;
}
}
});
}
catch (Exception ex)
{
Disconnect();
Console.WriteLine(ex.Message);
}
}