public Task <ArduinoMessage> SendMessageAsync(ArduinoMessage msg)
{
LogMessage(msg);
if (!_port.IsOpen)
{
return(new Task <ArduinoMessage>(() => new ArduinoMessage()));
}
var bytes = msg.ToBytes();
_port.Write(bytes, 0, bytes.Length);
var excpectedResponseCmd = Matcher.RequestResponse[msg.Command];
var tcs = new TaskCompletionSource <ArduinoMessage>();
var res = new AwaitingMessage
{
ExceptedResponseCommand = excpectedResponseCmd,
Action = (m) =>
{
tcs.TrySetResult(m);
}
};
_messageQueue.Enqueue(res);
return(tcs.Task);
}
