public async Task OpenAsync(string port, int baudRate)
{
if (IsOpen)
{
throw new InvalidOperationException(
"The controller is already connected, please close the existing connection.");
}
_connection?.Dispose();
if (_connection != null)
{
_connection.Open();
return;
}
_connection = new SerialConnection(port, baudRate);
try
{
Connect(port, baudRate);
_connection.Open();
await Initialize();
}
catch (Exception)
{
Close();
throw;
}
}
public void Close()
{
if (IsOpen)
{
_connection.MemberSerializing -= OnMemberSerializing;
_connection.MemberSerialized -= OnMemberSerialized;
_connection.MemberDeserializing -= OnMemberDeserializing;
_connection.MemberDeserialized -= OnMemberDeserialized;
_connection.Close();
_connection.Dispose();
_connection = null;
}
}
