private async Task <DeviceModelBase> Connect(SerialPortManager.SerialPortInfo port, CancellationToken ct)
{
DeviceModelBase device = null;
SerialMavlinkLayer mavlink = new SerialMavlinkLayer(port.Device);
Msg_configuration_control configCMD = new Msg_configuration_control();
configCMD.command = (byte)CONFIG_COMMAND.CONFIG_COMMAND_GET_VERSION;
Msg_data_transmission_handshake handshake = new Msg_data_transmission_handshake();
PacketReceivedEventHandler pr = (o, e) =>
{
if (e.Message.GetType() == typeof(Msg_configuration_version2))
{
Msg_configuration_version2 msg = e.Message as Msg_configuration_version2;
device = new AnySense(mavlink, msg.fw_version);
}
else if (e.Message.GetType() == typeof(Msg_configuration_version3))
{
Msg_configuration_version3 msg = e.Message as Msg_configuration_version3;
switch (msg.hw_version)
{
case 1:
device = new AnySensePro(mavlink, msg.fw_version);
break;
default:
break;
}
}
};
mavlink.PacketReceived += pr;
do
{
ct.ThrowIfCancellationRequested();
mavlink.SendMessage(configCMD);
await Task.Delay(500, ct);
} while (device == null);
mavlink.PacketReceived -= pr;
if (device == null)
{
try{
mavlink.Dispose();
}
catch { }
}
return(device);
}
public AnySense(SerialMavlinkLayer mv, UInt32 version)
: base(mv, version)
{
Firmware = string.Format("AnySense {0}.{1}.{2}", (byte)(version >> 16), (byte)(version >> 8), (byte)version);
}