private void mSendDo(CProtocolMessage msg)
{
mCheckPortIsOpen();
List<byte> rawMessage = msg.GetRawData();
rawMessage.Insert(0, START_CHAR);
rawMessage.Add(END_CHAR);
Debug.WriteLine("SendToPic, Data=" + string.Join(",", rawMessage));
mSerialPort.Write(rawMessage.ToArray(), 0, rawMessage.Count);
}
public bool SendAndRead(ECommands cmd, List<Byte> data, ECommands matchCmd, out List<Byte> matchData)
{
var txMsg = new CProtocolMessage(mGetNextTxPacketId(), cmd, data);
byte expectedResponsePacketId;
//The machine always responds with a packet Ok with id 255 upon reset
if (cmd == ECommands.RESET_COMMAND)
{
mCurrentTxPacketId = 255;
expectedResponsePacketId = 255;
}
else
expectedResponsePacketId = mCurrentTxPacketId;
for (int i = 1; i <= 10; i++)
{
mSendDo(txMsg);
CProtocolMessage rxMsg = Read();
byte correctCRC;
if (rxMsg.ID != expectedResponsePacketId)
Logging.Log.LogError("Received invalid packet ID, desired " + expectedResponsePacketId + ", received " + rxMsg.ID);
else if (!rxMsg.VerifyCRC(out correctCRC))
Logging.Log.LogError("Received invalid packet CRC, desired " + correctCRC + ", received " + rxMsg.CRC);
else if (rxMsg.Cmd != matchCmd)
Logging.Log.LogError("Received invalid response command, desired " + matchCmd.ToString() + ", received " + rxMsg.Cmd.ToString());
else
{
matchData = rxMsg.Data;
return true;
}
}
matchData = null;
return false;
}
