/// <summary>
/// Send and receive serial communication asynchronously.
/// </summary>
/// <param name="cmd">Send command</param>
/// <remarks>
/// [Note]
/// If you let the UI thread process while receiving data, data is likely to be missed.
/// Data is sent and received in order using the command response method.
/// 1.Send command from form
/// -> 2.Send and receive command in thread
/// -> 3.Write received data on form
/// </remarks>
async private void AsyncSerialPort(byte cmd)
{
// Clear the log area every 1000 times.
if (this._normalCount % 1000 == 0)
{
this.txtLog.Clear();
}
// Get send command from definition list.
this._lastSendCommandID = cmd;
TOFCommand command = this.GetCommand(cmd);
this._serialPort.ReceivedDataLength = 0;
// Write send command information to log area.
this.txtLog.AppendText(string.Format("{0} {1} {2} {3}\r\n"
, DateTime.Now.ToString("HH:mm:ss.fff")
, command.SendDataLength.ToString("D7")
, "Send "
, BitConverter.ToString(command.SendData)));
this.txtLog.ScrollToCaret();
// Send send command to serial port asynchronously.
await Task.Run(() => this._serialPort.SendReceive(command));
// When called back, write the received data.
this.CallbackSerialPort();
}
/// <summary>
/// Send Command And Wait for Receive Response
/// </summary>
/// <param name="command">Command class object</param>
public void SendReceive(TOFCommand command)
{
// Set command from parameter.
this._command = command;
// Set the flag to True to start sending and receiving.
this._isSendingReceiving = true;
// Wait until sending and receiving stops.
while (this._isSendingReceiving)
{
Thread.Yield();
}
}
/// <summary>
/// Callback processing after receiving data.
/// </summary>
/// <remarks>
/// </remarks>
private void CallbackSerialPort()
{
byte[] data = this._serialPort.ReceiveDataBuffer;
int length = this._serialPort.ReceivedDataLength;
bool isError = this._serialPort.IsError;
try
{
if (6 <= length && data[0] == 0xFE)
{
// When the synchronization code is 0xFE and the received data length is 6 or more.
int dataLength = (data[2] << 24) + (data[3] << 16) + (data[4] << 8) + data[5];
if (length == dataLength + 6)
{
// When all data can be received,
// Write received data information to log area.
this._normalCount++;
this.txtResult.Text = string.Format("Nromal count：{0}. Error count：{1}.", this._normalCount.ToString(), this._errorCount.ToString());
this.txtLog.AppendText(string.Format("{0} {1} {2} {3}\r\n"
, DateTime.Now.ToString("HH:mm:ss.fff")
, length.ToString("D7")
, "Receive"
, BitConverter.ToString(data, 0, 20 <= length ? 20 : length)));
this.txtLog.ScrollToCaret();
// If Output CSV is TRUE, CSV output.
if (this._lastSendCommandID == 0x82 && this.chkOutputCSV.Checked)
{
// Get command definition.
TOFCommand command = this.GetCommand(this._lastSendCommandID);
// Extract get result data from the receive buffer.
byte[] resultData = new byte[command.ReceiveDataLength];
Buffer.BlockCopy(data, 0, resultData, 0, length);
// CSV output.
this.OutputCsv(resultData);
}
// If Repeat is TRUE, Send Get result command.
if (this.chkRepeat.Checked)
{
this.AsyncSerialPort(this._lastSendCommandID);
return;
}
}
else
{
// When some data could not be received,
// Write received data information to log area.
this._errorCount++;
this.txtLog.AppendText(string.Format("Failed to receive data. The received data length is {0} bytes.\r\n"
, length));
this.txtLog.ScrollToCaret();
// If Repeat is TRUE, Send Get result command.
if (this.chkRepeat.Checked)
{
this.AsyncSerialPort(this._lastSendCommandID);
return;
}
}
}
else
{
// When some data could not be received,
// Write received data information to log area.
this._errorCount++;
if (isError)
{
// When some data could not be received,
// Write received data information to log area.
this.txtLog.AppendText(string.Format("Failed to send data.\r\n"));
}
else
{
// When some data could not be received,
// Write received data information to log area.
this.txtLog.AppendText(string.Format("Failed to receive data.\r\n"));
}
this.txtLog.ScrollToCaret();
// If Repeat is TRUE, Send Get result command.
if (this.chkRepeat.Checked)
{
this.AsyncSerialPort(this._lastSendCommandID);
return;
}
}
}
catch (ObjectDisposedException)
{
// Do nothing until the object is destroyed.
}
}
