public bool TrySendCommand <T>(IStageCommand command, out T response)
{
lock (this) {
response = default(T); //TODO can other method just use this, defaulting to object?
if (!serial.IsOpen || isHoming)
{
return(false); //TODO makes checkes likes global axis
}
if (!sendCommand(command))
{
return(false);
}
if (command.ExpectResponse)
{
string responseData = null;
if (readLine(out responseData))
{
object obj = command.ParseResponse(responseData);
if ((obj != null) && (obj is T))
{
response = (T)obj;
return(true);
}
}
}
else
{
return(true);
}
return(false);
}
}
/// <summary>Internal method that simply sends a command, no checks.</summary>
private bool sendCommand(IStageCommand command) //TODO implement in other methods
{
try {
serial.WriteLine(command.Command);
return(true);
} catch (Exception ex) {
Console.WriteLine("Error sending message: " + ex.Message);
return(false);
}
}
/// <summary>Attempts to send a command and parse its return data, if any.</summary>
public bool TrySendCommand(IStageCommand command, out object response)
{
return(TrySendCommand <object>(command, out response));
}
/// <summary>Attempts to send a command and ignore any returned data.</summary>
public bool TrySendCommand(IStageCommand command)
{
object temp;
return(TrySendCommand(command, out temp));
}