private Response parseACK(Byte[] rawAckPacket)
{
Debug.WriteLine(String.Concat("ACK raw=", DebugGoodies.ByteArrayToString(rawAckPacket)));
Byte num = rawAckPacket[2];
Byte num1 = rawAckPacket[3];
Byte num2 = rawAckPacket[4];
Byte num3 = rawAckPacket[(Int32)rawAckPacket.Length - 1];
checksumFor(rawAckPacket);
return(new Response(_robot, (ResponseCode)num, num1, null));
}
public Response processRawBytes(Byte[] ba)
{
Response response;
Byte[] numArray = ba;
for (Int32 i = 0; i < (Int32)numArray.Length; i++)
{
Byte num = numArray[i];
_rawData.Add(num);
}
if (_rawData.Count >= 6)
{
Debug.WriteLine(String.Concat("IN: ", DebugGoodies.ByteArrayToString(_rawData)));
if ((_rawData[0] != 255 ? true : _rawData[1] != 255))
{
if ((_rawData[0] != 255 ? true : _rawData[1] != 254))
{
throw new InvalidResponseException("Responses must be initiated with 0xFF", ba);
}
response = parseAsync();
}
else
{
Byte item = _rawData[2];
Byte item1 = _rawData[3];
Int32 num1 = 5 + _rawData[4];
if (_rawData.Count >= num1)
{
Object[] objArray = new Object[] { "ACK rc={0:x2} seq=", item1, " len=", num1 };
String str = String.Concat(objArray);
objArray = new Object[] { item };
Debug.WriteLine(str, objArray);
Byte[] numArray1 = new Byte[num1];
_rawData.CopyTo(0, numArray1, 0, num1);
_rawData.RemoveRange(0, num1);
response = parseACK(numArray1);
}
else
{
response = null;
}
}
}
else
{
response = null;
}
return(response);
}
internal InvalidResponseException(String msg, Byte[] theInvalidArray)
: base(String.Concat(msg, " data: ", DebugGoodies.ByteArrayToString(theInvalidArray)))
{
}
