/// <summary>
/// Send a command and wait for a reply
/// </summary>
/// <param name="sequence">The command sequence, typically starting with <see cref="FirmataCommand.START_SYSEX"/> and ending with <see cref="FirmataCommand.END_SYSEX"/></param>
/// <param name="timeout">A non-default timeout</param>
/// <returns>The raw sequence of sysex reply bytes. The reply does not include the START_SYSEX byte, but it does include the terminating END_SYSEX byte. The first byte is the
/// <see cref="FirmataSysexCommand"/> command number of the corresponding request</returns>
public List <byte> SendCommandAndWait(FirmataCommandSequence sequence, TimeSpan timeout)
{
if (!sequence.Validate())
{
throw new ArgumentException("The command sequence is invalid", nameof(sequence));
}
lock (_synchronisationLock)
{
if (_firmataStream == null)
{
throw new ObjectDisposedException(nameof(FirmataDevice));
}
_dataReceived.Reset();
// Use an explicit iteration, avoids a memory allocation here
for (int i = 0; i < sequence.Sequence.Count; i++)
{
_firmataStream.WriteByte(sequence.Sequence[i]);
}
_firmataStream.Flush();
bool result = _dataReceived.WaitOne(timeout);
if (result == false)
{
throw new TimeoutException("Timeout waiting for command answer");
}
return(new List <byte>(_lastResponse));
}
}
/// <summary>
/// Send a command that does not generate a reply.
/// This method must only be used for commands that do not generate a reply. It must not be used if only the caller is not
/// interested in the answer.
/// </summary>
/// <param name="sequence">The command sequence to send</param>
/// <param name="timeout">A non-default timeout</param>
public void SendCommand(FirmataCommandSequence sequence, TimeSpan timeout)
{
if (!sequence.Validate())
{
throw new ArgumentException("The command sequence is invalid", nameof(sequence));
}
lock (_synchronisationLock)
{
if (_firmataStream == null)
{
throw new ObjectDisposedException(nameof(FirmataDevice));
}
// Use an explicit iteration, avoids a memory allocation here
for (int i = 0; i < sequence.Sequence.Count; i++)
{
_firmataStream.WriteByte(sequence.Sequence[i]);
}
_firmataStream.Flush();
}
}