/// <summary>
/// Write configuration message and wait for the transmission to complete without caring about
/// it being acknowledge or not.
/// </summary>
/// <param name="data">Communication message to be transmitted</param>
/// <returns>Task represent the WriteConfigIgnoreResultAsync execution</returns>
public async Task WriteConfigIgnoreResultAsync(UBXModelBase data)
{
if (!UBXModelBase.IsConfigMessage(data))
{
throw new NotSupportedException("WriteConfig only available for config type UBX message");
}
var notifyToken = new CancellationTokenSource();
// Register to wait for transmission
this.transmissionNotification.Add(data, notifyToken);
// Put in queue
TransmitMessage(data);
// Wait until the message is transmitted
try
{
await Task.Delay(-1, notifyToken.Token);
}
catch (TaskCanceledException)
{
}
// Remove from notification list
this.transmissionNotification.Remove(data);
}
/// <summary>
/// Asynchronously request for message of type from the device.
/// </summary>
/// <typeparam name="T">Type of message that is requested.</typeparam>
/// <returns>
/// Task represents the PollMessageAsync execution, which upon completion returns the data
/// requested from the device, or null if it is aborted by calling <see cref="AbortPollMessageAsync{T}"/>.
/// </returns>
public async Task <T> PollMessageAsync <T>() where T : UBXModelBase
{
var pollMessage = UBXModelBase.GetPollMessage <T>();
// Send the data
TransmitMessage(pollMessage);
// Wait until expected response comes
return(await expectingList.ExpectAsync <T>());
}
/// <summary>
/// Write configuration message to the device and wait until acknowledge or not-acknowledge message
/// arrived
/// </summary>
/// <param name="data">Communication message to be transmitted </param>
/// <returns>
/// Task represents the WriteConfigAsync execution, which upon completion returns boolean where
/// true means the configuration is acknowledged, and false otherwise.
/// </returns>
public async Task <bool> WriteConfigAsync(UBXModelBase data)
{
if (!UBXModelBase.IsConfigMessage(data))
{
throw new NotSupportedException("WriteConfig only available for config type UBX message");
}
TransmitMessage(data);
var attr = UBXModelBase.GetMessageAttribute(data);
return(await expectingList.ExpectAcknowledgeAsync(attr.ClassID, attr.MessageID));
}
public static bool IsConfigMessage(UBXModelBase message)
{
var attribute = message.GetType().GetTypeInfo().GetCustomAttribute <UBXConfigAttribute>();
if (attribute != null)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// Create description key for expecting a message of type.
/// </summary>
/// <param name="message">The message</param>
public ExpectingDescription(UBXModelBase message)
{
if (message is AcknowledgeBase)
{
var ack = message as AcknowledgeBase;
this.classId = ack.ClassID;
this.messageId = ack.MessageID;
this.expectedMessageMode = ExpectingMode.Acknowledge;
}
else
{
this.expectingType = message.GetType();
this.expectedMessageMode = ExpectingMode.Regular;
}
}
/// <summary>
/// Notify any party if waits a message of this type
/// </summary>
/// <param name="obj">The message to be notified</param>
/// <returns>True if there is a party that is waiting for this kind of message, false otherwise.</returns>
public bool NotifyIfExpected(UBXModelBase obj)
{
var expectingDesc = new ExpectingDescription(obj);
try
{
var expectingContext = expectingList[expectingDesc];
expectingContext.NotifyResponseReceived(obj);
return(true);
}
catch (KeyNotFoundException)
{
return(false);
}
}
internal static UBXMessageAttribute GetMessageAttribute(UBXModelBase message)
{
return(message.GetType().GetTypeInfo().GetCustomAttribute <UBXMessageAttribute>());
}
public static UBXModelBase TryParse(byte[] payload)
{
if (payload[0] != Header1 || payload[1] != Header2)
{
throw new InvalidMessageHeaderException();
}
byte classId = payload[2];
byte messageId = payload[3];
int messageLength = payload[4] | (payload[5] << 8);
try
{
var ubxType = parsableTypeIndex[new UBXMessageIndex(classId, messageId)];
ushort expectedChecksum = (ushort)((payload[payload.Length - 2]) | (payload[payload.Length - 1] << 8));
ushort computedChecksum = GetChecksum(payload, 2, payload.Length - 2);
if (expectedChecksum != computedChecksum)
{
throw new InvalidChecksumException(String.Format("Checksum expected {0}, computed {1}", expectedChecksum, computedChecksum));
}
BinaryReader reader = new BinaryReader(new MemoryStream(payload, 6, messageLength));
UBXModelBase retVal = (UBXModelBase)Activator.CreateInstance(ubxType.MessageClass);
foreach (var property in ubxType.PropertyMap)
{
if (!property.ListType)
{
// If property is not a list type, parse normally using its underlying type
property.Property.SetValue(retVal, reader.Read(property.Property.PropertyType));
}
else
{
// If property is a list type, infer the type content
var typeInfoOfPropertyType = property.Property.PropertyType.GetTypeInfo();
var theStructureType = typeInfoOfPropertyType.GenericTypeArguments[0]; // Get the T of IEnumerable<T>
// Get the size of the structure
var structureSize = UBXStructureMapper.PayloadSizeOf(theStructureType);
// Get the item count
var itemCount = Convert.ToInt32(ubxType.PropertyMap[property.ListIndexRef.Value].Property.GetValue(retVal));
// Construct list of it
var theList = (IList)Activator.CreateInstance(typeof(List <>).MakeGenericType(theStructureType));
for (int i = 0; i < itemCount; i++)
{
var buf = reader.ReadBytes(structureSize);
theList.Add(UBXStructureMapper.TryParse(theStructureType, buf));
}
// Set the value to property
property.Property.SetValue(retVal, theList);
}
}
return(retVal);
}
catch (KeyNotFoundException)
{
throw new UnknownMessageException(string.Format("Unknown message with Class: {0}, MessageID: {1}", classId, messageId));
}
catch (NotSupportedException ex)
{
throw new UnknownMessageException(string.Format("Failed to parse Class: {0}, MessageID: {1}", classId, messageId), ex);
}
}
/// <summary>
/// Instantiate MessageReceivedEventArgs.
/// </summary>
/// <param name="receivedMessage">The received message object.</param>
internal MessageReceivedEventArgs(UBXModelBase receivedMessage)
{
this.ReceivedMessage = receivedMessage;
}
/// <summary>
/// Raise MessageReceived event with the specified message object.
/// </summary>
/// <param name="receivedMessage">Message object that is just received.</param>
protected void OnMessageReceived(UBXModelBase receivedMessage)
{
this.MessageReceived?.Invoke(this, new MessageReceivedEventArgs(receivedMessage));
}
/// <summary>
/// Transmit any message to the device
/// </summary>
/// <param name="messageToTransmit">Message to transmit to the device</param>
public void TransmitMessage(UBXModelBase messageToTransmit)
{
transmitQueue.Enqueue(messageToTransmit);
}
/// <summary>
/// Communication loop for GPS serial device
/// </summary>
/// <param name="baudRate">Baud rate for this communication loop</param>
/// <returns>Task that represent the asyncrhonous operation of communication loop</returns>
private async Task Listen(uint baudRate)
{
// If it is already running, just bye
if (running)
{
return;
}
// Initialize state and cancellation token to stop this operation
running = true;
cancelToken = new CancellationTokenSource();
DataReader dataReader = null;
DataWriter dataWriter = null;
SerialDevice serialPort = null;
#if DEBUG
Debug.WriteLine("Listening start...");
#endif
try
{
// Get serial device from device info
serialPort = await InitializeSerialPort(this.deviceInfo, baudRate);
serialPort.WriteTimeout = TimeSpan.FromMilliseconds(100);
serialPort.ReadTimeout = TimeSpan.FromMilliseconds(100);
dataReader = new DataReader(serialPort.InputStream);
dataReader.InputStreamOptions = InputStreamOptions.Partial;
dataWriter = new DataWriter(serialPort.OutputStream);
// Queue to store current byte processed, in case of data is transmitted
// intersecting between two loop
Queue <byte> currentlyProcessed = new Queue <byte>(1024);
// Current communication state of the loop
byte currentState = 0;
ushort payloadLength = 0;
while (true)
{
cancelToken.Token.ThrowIfCancellationRequested();
// Write any queued message
await WriteQueuedMessages(dataWriter);
// Longer timeout to prevent package drop
CancellationTokenSource timeoutToken = new CancellationTokenSource(serialPort.ReadTimeout.Milliseconds * 10);
// Load asynchronously, while at the same time we process the data that is ready
var loadingTask = dataReader.LoadAsync(BufferLength).AsTask(timeoutToken.Token);
while (dataReader.UnconsumedBufferLength != 0)
{
// Consume buffer while waiting for data
byte currentByte = dataReader.ReadByte();
bool fail = false;
currentlyProcessed.Enqueue(currentByte);
// State machine:
// 0: Header 1
// 1: Header 2
// 2: Class ID
// 3: Message ID
// 4: Least significant byte of size
// 5: Most significant byte of size
// 6: Payload with 1st byte of checksum
// 7: 2nd byte of checksum
// 8: Processing
switch (currentState)
{
case 0: // Start with Header 1
if (currentByte != UBXModelBase.Header1)
{
fail = true;
}
break;
case 1: // Followed by Header 2, otherwise fail
if (currentByte != UBXModelBase.Header2)
{
fail = true;
}
break;
case 4: // Retrieve Size
payloadLength = currentByte;
break;
case 5: // Continue retrieve size
payloadLength |= ((ushort)(currentByte << 8)); // Second byte of payload length
break;
}
#if DEBUG && VERBOSE
Debug.Write(currentByte.ToString("X") + ' ');
#endif
// Reset processing if it encounter invalid header
if (fail)
{
currentState = 0;
currentlyProcessed.Clear();
#if DEBUG && VERBOSE
Debug.WriteLine("");
#endif
}
else if (currentState != 6)
{
// Increment state
currentState++;
}
else if (currentState == 6)
{
// Loading the payload
if (payloadLength > 0)
{
payloadLength--;
}
else
{
currentState++;
}
}
// If the entire message has been received properly
// perform processing
if (currentState == 8)
{
try
{
var arr = currentlyProcessed.ToArray();
#if DEBUG
Debug.WriteLine("Package received: " + currentlyProcessed.Count + " bytes");
#if VERBOSE
DebugHelper.PrintArray(arr);
#endif
#endif
// Parse the byte to UBX models
var package = UBXModelBase.TryParse(arr);
// Notify if any party is waiting this kind of message
if (!expectingList.NotifyIfExpected(package))
{
OnMessageReceived(package);
}
#if DEBUG
Debug.WriteLine(package.ToString());
#endif
}
catch (UBXException ex)
{
#if DEBUG
Debug.WriteLine("Failed parsing UBX package: " + ex);
#endif
}
catch (Exception ex)
{
#if DEBUG
Debug.WriteLine("Exception occured during parsing: " + ex, ex);
#endif
}
finally
{
currentlyProcessed.Clear();
currentState = 0;
}
}
}
try
{
uint readedBuffer = await loadingTask;
}
catch (TaskCanceledException)
{
}
catch (Exception ex)
{
#if DEBUG
Debug.WriteLine("Unexpected Exception when awaiting loading: " + ex);
#endif
}
}
}
catch (OperationCanceledException)
{
#if DEBUG
Debug.WriteLine("Listening port stopped!");
#endif
}
catch (Exception ex)
{
#if DEBUG
Debug.WriteLine("Unexpected Exception happen during the loop: " + ex);
#endif
}
finally
{
if (dataReader != null)
{
dataReader.DetachStream();
dataReader.Dispose();
dataReader = null;
}
if (serialPort != null)
{
serialPort.Dispose();
serialPort = null;
}
running = false;
cancelToken = null;
}
}
/// <summary>
/// Notify the waiting party that the response is received
/// </summary>
/// <param name="obj">The message that is received</param>
public void NotifyResponseReceived(UBXModelBase obj)
{
this.ResponseReceived = obj;
notifyTokenSource.Cancel();
}