public async Task <bool> RequestInvoke(
ushort endpointID,
CancellationToken parentCancellationToken = default(CancellationToken),
Policy requestPolicy = null)
{
var policyToUse = requestPolicy ?? StandardTimeoutWaitAndRetryPolicy.Value;
return(await policyToUse.ExecuteAsync(async cancellationToken =>
{
var taskCompletionSource = new TaskCompletionSource <bool>();
WireBuffer requestBuffer = null;
requestBuffer = new WireBuffer(0);
var request = new Request(
sequenceNumber: sequenceCounter.NextValue(),
endpointID: endpointID,
expectedResponseSize: 0,
requestACK: true,
populateBody: () => requestBuffer,
responseCallback: res =>
{
taskCompletionSource.SetResult(true);
},
signature: SchemaChecksum ?? Config.USB_PROTOCOL_VERSION,
cancellationToken: cancellationToken
);
SendRequest(request);
return await taskCompletionSource.Task.ConfigureAwait(false);
}, parentCancellationToken).ConfigureAwait(false));
}
public Request(
ushort sequenceNumber,
ushort endpointID,
ushort expectedResponseSize,
bool requestACK,
Func <WireBuffer> populateBody,
Action <Response> responseCallback,
ushort signature,
CancellationToken cancellationToken)
{
// NOTE: Regarding the 0x80 value, see https://github.com/madcowswe/ODrive/blob/eb07260c3ea57e74c59432fd036b275b608d85d0/Firmware/fibre/python/fibre/protocol.py#L276
SequenceNumber = sequenceNumber;
EncodedSequenceNumber = (ushort)(sequenceNumber | 0x80);
EndpointID = endpointID;
EncodedEndpointID = (ushort)(requestACK ? endpointID | 0x8000 : endpointID);
ExpectedResponseSize = expectedResponseSize;
RequestACK = requestACK;
Body = populateBody.Invoke();
ResponseCallback = responseCallback;
Signature = signature;
CancellationToken = cancellationToken;
if (Body == null)
{
Body = new WireBuffer(0);
}
}
public Response(byte[] packetBytes, int packetLength)
{
Length = packetLength;
var responseBuffer = new WireBuffer(packetBytes, Length);
EncodedSequenceNumber = responseBuffer.Read <ushort>();
SequenceNumber = (ushort)(EncodedSequenceNumber & 0x7fff);
Body = new WireBuffer(responseBuffer.ReadArray <byte>((byte)(Length - 2)), Length - 2);
}
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));
}
