public async Task Send(SerialMessage message)
{
if (!IsConnected)
{
throw new RovNotConnectedException();
}
await OpenConnection.Send(message);
}
public static bool TryParse(string source, out SerialMessage message)
{
if (!source.StartsWith("!") || source.Length <= 1 || source.Contains("\n"))
{
message = new SerialMessage {
Type = null, Parameters = null
};
return(false);
}
var allParts = source.Split(" ");
message = new SerialMessage
{
Type = allParts.First().Substring(1),
Parameters = allParts.Skip(1).ToArray()
};
return(true);
}
public async Task Send(SerialMessage message)
{
if (Writer == null)
{
throw new InvalidOperationException("An attempt was made to send a message, but there is no underlying data writer open.");
}
Writer.WriteString(message.Serialize() + "\n");
try
{
await Writer.StoreAsync();
}
catch (Exception e) when(
// The semaphore timeout period has expired. (Exception from HRESULT: 0x80070079)
e.HResult == unchecked ((int)0x80070079)
// The device does not recognize the command. (Exception from HRESULT: 0x80070016)
|| e.HResult == unchecked ((int)0x80070016)
// A device attached to the system is not functioning. (Exception from HRESULT: 0x8007001F)
|| e.HResult == unchecked ((int)0x8007001F)
)
{
throw new RovSendOperationFailedException(e);
}
}
public async void Open()
{
if (ReadTask != null)
{
throw new InvalidOperationException("An attempt was made to open the connection, but there is already an open connection.");
}
ConnectedDevice = await SerialDevice.FromIdAsync(ConnectedDeviceId);
ConnectedDevice.BaudRate = 115200;
ConnectedDevice.StopBits = SerialStopBitCount.One;
ConnectedDevice.DataBits = 8;
ConnectedDevice.Parity = SerialParity.None;
ConnectedDevice.Handshake = SerialHandshake.None;
ConnectedDevice.WriteTimeout = TimeSpan.FromMilliseconds(10);
ConnectedDevice.ReadTimeout = TimeSpan.FromMilliseconds(10);
Writer = new DataWriter(ConnectedDevice.OutputStream);
ReadTaskCancellationToken = new CancellationTokenSource();
ReadTask = Task.Run(async() =>
{
DataReader reader = new DataReader(ConnectedDevice.InputStream);
StringBuilder builder = new StringBuilder();
while (true)
{
try
{
// TODO: investigate larger chunks
// TODO: Can larger code points cause issues?
var loadTask = reader.LoadAsync(1);
var loadResult = await loadTask.AsTask(ReadTaskCancellationToken.Token);
if (loadResult < 1)
{
continue;
}
if (loadResult != 1 || reader.UnconsumedBufferLength != 1)
{
Debugger.Break();
}
char nextChar = reader.ReadString(1)[0];
if (nextChar == '\n')
{
string line = builder.ToString();
if (SerialMessage.TryParse(line, out SerialMessage message))
{
try
{
OnMessageReceived(message);
}
catch (Exception e)
{
Debug.WriteLine(e.ToString());
Debugger.Break();
}
}
else
{
try
{
OnRawStringReceived(line);
}
catch (Exception e)
{
Debug.WriteLine(e.ToString());
Debugger.Break();
}
}
builder.Clear();
}
else
{
builder.Append(nextChar);
}
}
// The operation attempted to access data outside the valid range
catch (System.Runtime.InteropServices.COMException e) when(e.HResult == -2147483637)
{
// TODO
}
}
});
IsOpen = true;
}
