private void parseMsgCmdFun(msgCmd msg)
{
string str = msg.head.ToString("X2") + " " + msg.len.ToString("X2") + " " + msg.sn[0].ToString("X2") + " " + msg.sn[1].ToString("X2") + " ";
for (int i = 0; i < msg.len; i++)
{
str += msg.data[i].ToString("X2") + " ";
}
str += msg.crc[0].ToString("X2") + " ";
str += msg.crc[1].ToString("X2") + " ";
str += msg.crc[2].ToString("X2") + " ";
str += msg.crc[3].ToString("X2") + " ";
str += "18";
addLog("<<<< " + str + Environment.NewLine);
if (msg.sn[1] % 2 == 1)
{
byte[] data = new byte[] { 0xe0, 0, 0, 0, 0, 0, 0, 0, 0x18 };
data[2] = msg.sn[0];
data[3] = msg.sn[1];
crc32.setCrc32Value(data);
linkMgr.sendData(data,data.Length);
str = "";
for (int i = 0; i < data.Length;i++ )
{
str += data[i].ToString("X2") + " ";
}
addLog(">>>> " + str + Environment.NewLine);
}
}
public void parseMsgCmdInvoke(msgCmd msg)
{
this.Dispatcher.BeginInvoke(new Action(() =>
{
parseMsgCmdFun(msg);
}));
}
public static void setCrc32Value(msgCmd msg)
{
UInt32 crc32Value = stm32crc32(msg.data, msg.data.Length);
msg.crc[0] = (byte)((crc32Value >> 24) & 0xff);
msg.crc[1] = (byte)((crc32Value >> 16) & 0xff);
msg.crc[2] = (byte)((crc32Value >> 8) & 0xff);
msg.crc[3] = (byte)(crc32Value & 0xff);
}
public static void parseBufTolst()
{
int buf_write_tmp = buf_write;
//包头检测 若接收到的数据长度小于最小心跳包长度 则不再检测包头
while ((buf_write_tmp + BUFLEN - buf_read) % BUFLEN > 4)
{
// Console.WriteLine("[parseBufTolst]" + (buf_write_tmp + BUFLEN - buf_read) % BUFLEN);
//检测到包头
if (lstBuf[buf_read] == NET_CMD_HEAD)
{
//取得接收数据长度
byte[] crcData = new byte[200];
buf_read_forward(1);
int len_tmp = lstBuf[buf_read];
crcData[0] = lstBuf[buf_read];
if(len_tmp > 100)
{
continue;
}
if ((buf_write_tmp + BUFLEN - buf_read) % BUFLEN > len_tmp + 7)
{
//接收到完整指令 buf_read+3 代表len 位置 head1+sn2+len1+crc4+end1 =9字节
msgCmd pcmdS = new msgCmd();
pcmdS.head = NET_CMD_HEAD;
pcmdS.len = lstBuf[buf_read ];
buf_read_forward(1);
pcmdS.sn[0] = lstBuf[buf_read ];
crcData[1] = lstBuf[buf_read];
buf_read_forward(1);
pcmdS.sn[1] = lstBuf[buf_read ];
crcData[2] = lstBuf[buf_read];
buf_read_forward(1);
//指向data
// SendCMD((uint8_t)pcmdS);
// SendCMD((uint8_t)dat);
for (int i = 0; i < (len_tmp); i++)
{
pcmdS.data[i] = lstBuf[buf_read];
crcData[3 + i] = lstBuf[buf_read];
buf_read_forward(1);
}
pcmdS.crc[0] = lstBuf[buf_read ];
buf_read_forward(1);
pcmdS.crc[1] = lstBuf[buf_read ];
buf_read_forward(1);
pcmdS.crc[2] = lstBuf[buf_read ];
buf_read_forward(1);
pcmdS.crc[3] = lstBuf[buf_read ];
buf_read_forward(1);
//
pcmdS.endl = NET_CMD_END;
buf_read_forward(1);
//Crc323.Reset();
//Crc323.Crc(pcmdS.sn[0]);
//Crc323.Crc(pcmdS.sn[1]);
//Crc323.Crc(pcmdS.data, 0, pcmdS.len);
//UInt32 crc32 = Crc323.Value;
////CRC校验
//psndat = &pcmdS.sn[0];
//CRC_ResetDR();
//for (i = 0; i < len_tmp + 3; i++)
//{
// CRC_CalcCRC((uint32_t)*psndat++);
//}
UInt32 crc_calc = crc32.stm32crc32(crcData, pcmdS.len + 3);
UInt32 crc = (UInt32)((pcmdS.crc[0] <<24) | (pcmdS.crc[1] <<16) | (pcmdS.crc[2] << 8) | pcmdS.crc[3]);
if (crc_calc == crc)
{
if(parseMsgCmdHandle != null)
parseMsgCmdHandle(pcmdS);
if(pcmdS.len > 0)
{
parseMsg_Data(pcmdS.data);
}
}
//else
// Console.WriteLine("[parseBufTolst] crc check error! local crc : {0:x}\tnet crc : {1:x} ", crc32, crc);
}
else
{
buf_read_backward(1);
}
}
else
{
buf_read_forward(1);
}
buf_write_tmp = buf_write;
}//end while
}