MissionPlanner.SerialInjectGPS.mainloop C# (CSharp) Method

        private void mainloop()
        {
            DateTime lastrecv = DateTime.MinValue;
            threadrun = true;

            bool isrtcm = false;
            bool issbp = false;

            while (threadrun)
            {
                try
                {
                    // reconnect logic - 10 seconds with no data, or comport is closed
                    try
                    {
                        if ((DateTime.Now - lastrecv).TotalSeconds > 10 || !comPort.IsOpen)
                        {
                            this.LogInfo("Reconnecting");
                            // close existing
                            comPort.Close();
                            // reopen
                            comPort.Open();
                            // reset timer
                            lastrecv = DateTime.Now;
                        }
                    }
                    catch
                    {
                        this.LogError("Failed to reconnect");
                        // sleep for 10 seconds on error
                        System.Threading.Thread.Sleep(10000);
                    }

                    // limit to 110 byte packets
                    byte[] buffer = new byte[110];

                    // limit to 180 byte packet if using new packet
                    if (rtcm_msg)
                        buffer = new byte[180];

                    while (comPort.BytesToRead > 0)
                    {
                        int read = comPort.Read(buffer, 0, Math.Min(buffer.Length, comPort.BytesToRead));

                        if (read > 0)
                            lastrecv = DateTime.Now;

                        bytes += read;
                        bps += read;

                        try
                        {
                            if (basedata != null)
                                basedata.Write(buffer, 0, read);
                        }
                        catch
                        {
                        }

                        if (!(isrtcm || issbp))
                            sendData(buffer, (byte) read);


                        // check for valid rtcm packets
                        for (int a = 0; a < read; a++)
                        {
                            int seenmsg = -1;
                            // rtcm
                            if ((seenmsg = rtcm3.Read(buffer[a])) > 0)
                            {
                                isrtcm = true;
                                sendData(rtcm3.packet, (byte) rtcm3.length);
                                string msgname = "Rtcm" + seenmsg;
                                if (!msgseen.ContainsKey(msgname))
                                    msgseen[msgname] = 0;
                                msgseen[msgname] = (int) msgseen[msgname] + 1;

                                ExtractBasePos(seenmsg);
                            }
                            // sbp
                            if ((seenmsg = sbp.read(buffer[a])) > 0)
                            {
                                issbp = true;
                                sendData(sbp.packet, (byte) sbp.length);
                                string msgname = "Sbp" + seenmsg.ToString("X4");
                                if (!msgseen.ContainsKey(msgname))
                                    msgseen[msgname] = 0;
                                msgseen[msgname] = (int) msgseen[msgname] + 1;
                            }
                            // ubx
                            if ((seenmsg = ubx_m8p.Read(buffer[a])) > 0)
                            {
                                ProcessUBXMessage();
                                string msgname = "Ubx" + seenmsg.ToString("X4");
                                if (!msgseen.ContainsKey(msgname))
                                    msgseen[msgname] = 0;
                                msgseen[msgname] = (int) msgseen[msgname] + 1;
                            }
                        }
                    }

                    System.Threading.Thread.Sleep(10);
                }
                catch (Exception ex)
                {
                    this.LogError(ex);
                }
            }
        }