AForge.Robotics.Lego.RCXBrick.SendCommand C# (CSharp) Метод

        protected bool SendCommand( byte[] command, byte[] reply, int expectedReplyLen )
        {
            bool result = false;
            uint status;
            IntPtr queue;

            lock ( sync )
            {
                // check if GhostAPI stack was created (if device is connected)
                if ( stack == IntPtr.Zero )
                {
                    throw new NullReferenceException( "Not connected to RCX brick" );
                }

                // create command queue
                status = GhostAPI.GhCreateCommandQueue( out queue );

                if ( !GhostAPI.PBK_SUCCEEDED( status ) )
                    return false;

                // append command to the queue
                status = GhostAPI.GhAppendCommand( queue, command, command.Length, expectedReplyLen );

                if ( GhostAPI.PBK_SUCCEEDED( status ) )
                {
                    // execute command
                    status = GhostAPI.GhExecute( stack, queue );

                    if ( GhostAPI.PBK_SUCCEEDED( status ) )
                    {
                        IntPtr commandHandle;
                        uint replyLen;

                        // get first command and its reply data lenght
                        if (
                            ( GhostAPI.PBK_SUCCEEDED( GhostAPI.GhGetFirstCommand( queue, out commandHandle ) ) ) &&
                            ( GhostAPI.PBK_SUCCEEDED( GhostAPI.GhGetCommandReplyLen( commandHandle, out replyLen ) ) )
                            )
                        {
                            // check provided reply buffer size
                            if ( reply.Length < replyLen )
                                throw new ArgumentException( "Reply buffer is too small" );

                            // get reply data
                            status = GhostAPI.GhGetCommandReply( commandHandle, reply, replyLen );

                            if ( GhostAPI.PBK_SUCCEEDED( status ) )
                            {
                                // check that reply corresponds to command
                                if ( ( command[0] | 0x08 ) != (byte) ~reply[0] )
                                    throw new ApplicationException( "Reply does not correspond to command" );

                                result = true;
                            }
                        }
                    }
                }

                // destroy command queue
                GhostAPI.GhDestroyCommandQueue( queue );
            }

            return result;
        }
    }