Enqueue communication request and wait for reply.

Namespace:  AForge.Robotics.Surveyor
Assembly:  AForge.Robotics.Surveyor (in AForge.Robotics.Surveyor.dll) Version: 2.2.4.0 (2.2.4.0)

Syntax

C#
public int SendAndReceive(
	byte[] request,
	byte[] responseBuffer
)

Parameters

request
Type: array< System..::.Byte >[]()[]
Array of bytes (command) to send to SRV-1 Blackfin robot/camera.
responseBuffer
Type: array< System..::.Byte >[]()[]
Buffer to read response into.

Return Value

Returns total bytes read into the response buffer.

Remarks

The method puts specified command into communication queue and waits until the command is sent to SRV-1 Blackfin robot and reply is received.

Note:If SRV-1 responds with more data than response buffer can fit, then the response buffer will take all the data it can store, but the rest of response will be discarded. The only exception is image request - if response buffer is too small to fit image response, then IndexOutOfRangeException exception is thrown. It is user's responsibility to provide response buffer of the correct size. Check definition of the SRV-1 Control Protocol for information about supported commands and responses.

Exceptions

ExceptionCondition
AForge..::.NotConnectedExceptionNot connected to SRV-1.
AForge..::.ConnectionLostExceptionConnection lost or communicaton failure.
System..::.IndexOutOfRangeExceptionResponse buffer is too small.

See Also