private void Connect(string port, int baudRate)
{
_connection = new SerialConnection(port, baudRate);
if (_frameMemberDeserialized != null)
{
_connection.MemberDeserialized += _frameMemberDeserialized;
}
if (_frameMemberDeserializing != null)
{
_connection.MemberDeserializing += _frameMemberDeserializing;
}
if (_frameMemberSerialized != null)
{
_connection.MemberSerialized += _frameMemberSerialized;
}
if (_frameMemberDeserialized != null)
{
_connection.MemberDeserialized += _frameMemberDeserialized;
}
_connection.FrameReceived += OnFrameReceived;
}
public async Task OpenAsync(string port, int baudRate)
{
if (IsOpen)
{
throw new InvalidOperationException(
"The controller is already connected, please close the existing connection.");
}
_connection?.Dispose();
if (_connection != null)
{
_connection.Open();
return;
}
_connection = new SerialConnection(port, baudRate);
try
{
Connect(port, baudRate);
_connection.Open();
await Initialize();
}
catch (Exception)
{
Close();
throw;
}
}
public void Close()
{
if (IsOpen)
{
_connection.MemberSerializing -= OnMemberSerializing;
_connection.MemberSerialized -= OnMemberSerialized;
_connection.MemberDeserializing -= OnMemberDeserializing;
_connection.MemberDeserialized -= OnMemberDeserialized;
_connection.Close();
_connection.Dispose();
_connection = null;
}
}
/// <summary>
/// Open a local node.
/// </summary>
/// <param name="port">The COM port of the node</param>
/// <param name="baudRate">The baud rate, typically 9600 or 115200 depending on the model</param>
/// <returns></returns>
public async Task OpenAsync(string port, int baudRate)
#endif
{
if (IsOpen)
{
throw new InvalidOperationException("The controller is already conntected, please close the existing connection.");
}
#if WINDOWS_UWP
_connection = new SerialConnection(device);
#else
_connection = new SerialConnection(port, baudRate);
#endif
try
{
_connection.MemberSerializing += OnMemberSerializing;
_connection.MemberSerialized += OnMemberSerialized;
_connection.MemberDeserializing += OnMemberDeserializing;
_connection.MemberDeserialized += OnMemberDeserialized;
_connection.FrameReceived += OnFrameReceived;
_connection.Open();
/* Unfortunately the protocol changes based on what type of hardware we're using... */
HardwareVersionResponseData response =
await ExecuteAtQueryAsync <HardwareVersionResponseData>(new HardwareVersionCommand());
HardwareVersion = response.HardwareVersion;
_connection.CoordinatorHardwareVersion = HardwareVersion;
/* We want the receiver to have the hardware version in context so cycle the connection */
_connection.Close();
/* Stupid serial ports... */
await
TaskExtensions.Retry(() => _connection.Open(), typeof(UnauthorizedAccessException),
TimeSpan.FromSeconds(3));
Local = CreateNode(HardwareVersion);
}
catch (Exception)
{
Close();
throw;
}
}
