public async void WriteToRobot(DeviceMessage message)
{
RobotSession robotSession = this;
Int32 num = robotSession._seqNum;
Int32 num1 = num;
robotSession._seqNum = num + 1;
if (num1 >= 255)
{
_seqNum = 0;
}
message.setSequence((Byte)_seqNum);
Byte[] data = message.Data;
DataWriter dataWriter = new DataWriter();
try
{
dataWriter.WriteBytes(data);
await _socket.OutputStream.WriteAsync(dataWriter.DetachBuffer());
}
finally
{
if (dataWriter != null)
{
dataWriter.Dispose();
}
}
}
public SensorControl(RobotSession robotSession)
{
_robotSession = robotSession;
}
public CollisionControl(RobotSession robotSession)
{
_robotSession = robotSession;
}
internal async Task<Boolean> Connect()
{
Boolean flag;
Debug.WriteLine(String.Concat("Connecting: ", _info.DisplayName));
try
{
if (_info == null)
{
Debug.WriteLine(String.Concat("Unable to build Service for ", this));
flag = false;
return flag;
}
}
catch (Exception exception1)
{
Exception exception = exception1;Debug.WriteLine(String.Concat("Exception looking up service ", _info.DisplayName, " ", exception.Message));
flag = false;
return flag;
}
var dispatcher = Deployment.Current.Dispatcher;
_session = new RobotSession(_info, this, dispatcher);
if (!await _session.Initialize())
{
flag = false;
}
else
{
InternalSetConnectionState(ConnectionState.Connected);
Debug.WriteLine(String.Concat("Connected: ", ToString()));
_sensorControl = new SensorControl(_session);
_collisionControl = new CollisionControl(_session);
_session._responseDelegate = new RobotSession.RobotResponseDelegate(OnResponseReceived);
flag = true;
}
return flag;
}
