public void BeginSearch(int sendInterval = 100)
{
EndSearch();
lock (searchSyncLock)
{
ahoyServiceInfoList.Clear();
shouldSearch = true;
searchComplete.Reset();
searchThread = new Thread(delegate()
{
Connection imuConnection = null;
string serialNumber;
SerialConnectionInfo serialConnectionInfo = new SerialConnectionInfo()
{
PortName = portName,
BaudRate = 115200,
RtsCtsEnabled = false,
};
try
{
do
{
//Thread.CurrentThread.Join(100);
try
{
imuConnection = new Connection(serialConnectionInfo);
imuConnection.Connect();
}
catch
{
imuConnection?.Dispose();
imuConnection = null;
}
}while (shouldSearch == true && imuConnection == null);
if (shouldSearch == false)
{
return;
}
do
{
//Thread.CurrentThread.Join(100);
//SerialConnectionInfo info;
//string serialNumber;
//if (TryConnection(portName, 115200, false, sendInterval, 1, out info, out serialNumber) == false)
//{
// continue;
//}
try
{
if (Commands.Send(imuConnection, Command.Ahoy, sendInterval, 1, out serialNumber) != CommunicationProcessResult.Success)
{
continue;
}
}
catch
{
continue;
}
AhoyServiceInfo serviceInfo = new AhoyServiceInfo(IPAddress.Any, IPAddress.Any, 0, 0, serialNumber, string.Empty, new object[] { serialConnectionInfo }, 0);
if (ahoyServiceInfoList.Contains(serviceInfo) == true)
{
continue;
}
ahoyServiceInfoList.Add(serviceInfo);
ServiceDiscovered?.Invoke(serviceInfo);
SerialDeviceDiscovered?.Invoke(serialNumber, serialConnectionInfo);
return;
}while (shouldSearch == true);
}
finally
{
imuConnection?.Dispose();
searchComplete.Set();
}
});
searchThread.Name = "Ahoy Scan Port " + portName;
searchThread.Start();
}
}
private void OnSerialDeviceDiscovered(string serialNumber, SerialConnectionInfo serialConnectionInfo)
{
SerialDeviceDiscovered?.Invoke(serialNumber, serialConnectionInfo);
}