/// <summary>
/// Recieves the reply from the NXT.
/// </summary>
/// <returns>Returns the reply from the NXT, as a byte array.</returns>
public override byte[] RecieveReply()
{
if (!IsConnected)
{
throw new NXTNotConnected();
}
lock (commLock)
{
byte[] reply = usb.ReadDataViaBulkTransfer();
if (reply == null)
{
throw new NXTNoReply();
}
return(reply);
}
}
/// <summary>
/// <para>Sends a request for the NXT brick, and if applicable, receive the reply.</para>
/// </summary>
/// <param name="request">The request</param>
/// <returns>The reply as a byte-array, or null</returns>
protected override byte[] Send(byte[] request)
{
lock (usbLock)
{
usb.SendDataViaBulkTransfers(request);
// 0x80 indicates that we should expect a reply.
if ((request[0] & 0x80) == 0)
{
return(usb.ReadDataViaBulkTransfer());
}
else
{
return(null);
}
}
}