private static bool DetectNonsense(MechatrolinkPacket packet)
{
byte command = packet.Command.ParsedFields[(byte)MechatrolinkCommand.Fields.Code][0];
if (command == 0x0D || command == 0x0E || command == 0x0F)
{
return(false);
}
byte addr = packet.ParsedData[(int)MechatrolinkPacket.Fields.Address][0];
if (addr == 0x00)
{
return(true);
}
if (addr == MechatrolinkCommandDatabase.SyncFrameAddress)
{
return(false);
}
byte control = packet.ParsedData[(int)MechatrolinkPacket.Fields.Control][0];
if (control != MechatrolinkCommandDatabase.RequestControlCode && control != MechatrolinkCommandDatabase.ResponseControlCode)
{
return(true);
}
return(false);
}
public static string GetReport(MechatrolinkPacket packet)
{
try
{
if (packet.ParsedData[(int)MechatrolinkPacket.Fields.Address][0] == SyncFrameAddress)
{
return(SyncFrameReport);
}
var info = Database[packet.Command.ParsedFields[(int)MechatrolinkCommand.Fields.Code][0]];
return(info.GetReport(packet.Command.ParsedFields[(int)MechatrolinkCommand.Fields.Data],
packet.ParsedData[(int)MechatrolinkPacket.Fields.Control][0] == ResponseControlCode));
}
catch (KeyNotFoundException) { }
catch (Exception e)
{
ErrorListener.Add(new Exception("Error during database search. Operation aborted.", e));
}
return("");
}
/// <summary>
/// Sorts packet's bytes into easily accessible structures. Manipulates endianess.
/// </summary>
/// <param name="data">Expects bytes, composed of fully decoded bits (Decode, then SeparatePackets, then DestuffZeros, then PackIntoBytes).</param>
/// <param name="time">x10nS</param>
/// <param name="littleEndian">See Communications.Parse</param>
/// <returns></returns>
public static MechatrolinkPacket Parse(byte[] data, int time, bool littleEndian = false)
{
bool containsSub = data.Length > OrdinaryPacketLength;
byte[][] result = new byte[FieldLength.Count][];
List <byte> fcs = new List <byte>(data.Length - FieldLength[Fields.FCS]);
int current = 0;
for (int i = 0; i < FieldLength.Count; i++)
{
if (OrdinaryPacketFieldsToExclude.Any(x => x == (Fields)i))
{
continue;
}
int l = FieldLength[(Fields)i];
result[i] = new byte[l];
//Multibyte fields may be little-endian at physical layer (in fact they should be, but it turns out they're not...)
//All in all, we'd better implement a switch
for (int j = 0; j < l; j++)
{
result[i][j] = data[current + (littleEndian ? (l - j - 1) : (j))];
if ((Fields)i != Fields.FCS)
{
fcs.Add(result[i][j]);
}
}
current += l;
}
var toParse = result[(int)Fields.CommandData];
if (containsSub)
{
toParse = toParse.Concat(result[(int)Fields.SubcommandData]).ToArray();
}
var packet = new MechatrolinkPacket(result, MechatrolinkCommand.Parse(toParse), time);
packet.ComputedFCS = HDLCManchesterDecoder.ComputeFCS(fcs.ToArray());
packet.FCSError = !packet.ComputedFCS.SequenceEqual(packet.ParsedData[(int)Fields.FCS]);
packet.DatabaseReport = MechatrolinkCommandDatabase.GetReport(packet);
return(packet);
}
/// <summary>
/// Gets raw logic analyzer data (edges) and does complete decoding.
/// </summary>
/// <param name="list">Edge list</param>
/// <param name="frequency">Communication frequency (equal to speed, 4Mbps = 4MHz for Mechatrolink-I and 10MHz for M-II)</param>
/// <param name="littleEndian">Publicly available bits of docs are confusing on the subject of command body endianess.
/// Experience suggests that body bytes on their own are transmitted as big-endian,
/// though multibyte data pieces inside the body might be encoded as little-endian.</param>
/// <returns></returns>
public static MechatrolinkCommunication Parse(SortedList <int, bool> list, int frequency, bool littleEndian = false)
{
var tempDecoded = HDLCManchesterDecoder.Decode(list, frequency, 0.25);
//DataReporter.ReportProgress("Manchester layer decoded...");
var packets = HDLCManchesterDecoder.SeparatePackets(tempDecoded);
tempDecoded.Clear(); //Not needed anymore
tempDecoded.TrimExcess();
GC.Collect();
DataReporter.ReportProgress("HDLC layer decoded...");
MechatrolinkPacket[] decoded = new MechatrolinkPacket[packets.Length];
for (int i = 0; i < packets.Length; i++)
{
byte[] temp = HDLCManchesterDecoder.PackIntoBytes(
HDLCManchesterDecoder.DestuffZeroes(packets[i])).Values.ToArray();
//DataReporter.ReportProgress(string.Format("Packet {0} out of {1} packed...", i + 1, packets.Length));
decoded[i] = MechatrolinkPacket.Parse(temp, packets[i].Keys.First(), littleEndian);
//DataReporter.ReportProgress(string.Format("Packet {0} out of {1} decoded...", i + 1, packets.Length));
}
DataReporter.ReportProgress("Packets parsed...");
return(new MechatrolinkCommunication(decoded, (int)Math.Round(1E8 / frequency)));
}
