MissionPlanner.MAVLinkInterface.getRequestedWPNo C# (CSharp) Method

        public int getRequestedWPNo()
        {
            giveComport = true;
            DateTime start = DateTime.Now;

            while (true)
            {
                if (!(start.AddMilliseconds(1500) > DateTime.Now))
                {
                    giveComport = false;
                    throw new TimeoutException("Timeout on read - getRequestedWPNo");
                }
                MAVLinkMessage buffer = readPacket();
                if (buffer.Length > 5)
                {
                    if (buffer.msgid == (byte) MAVLINK_MSG_ID.MISSION_REQUEST)
                    {
                        var ans = buffer.ToStructure<mavlink_mission_request_t>();

                        log.InfoFormat("getRequestedWPNo seq {0} ts {1} tc {2}", ans.seq, ans.target_system, ans.target_component);

                        giveComport = false;

                        return ans.seq;
                    }
                }
            }
        }