public void SendPacket(IReadOnlyCollection <byte> payload)
{
if (!bluetoothCommunicator.IsConnected())
{
throw new InvalidOperationException("Fox is not connected");
}
if (payload.Count < MinPayloadLength || payload.Count > MaxPayloadLength)
{
throw new ArgumentException("Wrong payload size", nameof(payload));
}
var fullPacket = new List <byte>();
// Length
fullPacket.Add((byte)(payload.Count + AddToPacketLenght));
// Payload
fullPacket.AddRange(payload);
// CRC32
var crc = CRCGenerator.CalculateSTMCRC32(fullPacket);
fullPacket.AddRange(BitsHelper.ConvertUInt32ToBytes(crc));
bluetoothCommunicator.SendMessage(fullPacket);
}
/// <summary>
/// Called when new raw packet received
/// </summary>
public void NewRawPacketReceived(IReadOnlyCollection <byte> packet)
{
var packetAsList = new List <byte>(packet);
// Checking CRC
var crcBuffer = packetAsList
.GetRange(packet.Count - 4, 4);
var expectedCRC = BitsHelper.ConvertBytesToUint32(crcBuffer.ToArray());
var calculatedCRC = CRCGenerator.CalculateSTMCRC32(packetAsList
.GetRange(0, packetAsList.Count - 4));
if (expectedCRC != calculatedCRC)
{
return;
}
var payloadLength = packetAsList[0] - AddToPacketLenght;
var payload = packetAsList
.GetRange(1, payloadLength)
.AsReadOnly();
OnPacketReceived(payload);
}
