public AGVComFrame(AGVFrameTypes type, object serialData)
{
if (serialData != null)
{
string data = JsonConvert.SerializeObject(serialData);
byte[] bData = ASCIIEncoding.ASCII.GetBytes(data);
Data = bData;
Head = new SeerHead(type, (UInt16)bData.Length);
}
else
{
Head = new SeerHead(type, 0);
Data = null;
}
}
public static AGVComFrame Parse(byte[] buf)
{
if (buf.Length < HeadLength)
{
return(null);
}
IntPtr ptr = Marshal.AllocHGlobal(HeadLength);
AGVComFrame tmp = null;
try
{
Marshal.Copy(buf, 0, ptr, HeadLength);
SeerHead head = Marshal.PtrToStructure <SeerHead>(ptr);
head.number = (UInt16)((short)IPAddress.HostToNetworkOrder((short)head.number));
head.length = (UInt32)((int)IPAddress.HostToNetworkOrder((int)head.length));
head.type = (UInt16)((short)IPAddress.HostToNetworkOrder((short)head.type));
tmp = new AGVComFrame();
if (head.type > TYPE_RESPONSE_OFFSET)
{
tmp.IsResponseFrame = true;
head.type = (ushort)(head.type - TYPE_RESPONSE_OFFSET);
}
tmp.FrameType = (AGVFrameTypes)head.type;
uint length = head.length;
if (length <= buf.Length - HeadLength)
{
tmp.Data = new byte[length];
Array.Copy(buf, HeadLength, tmp.Data, 0, head.length);
}
else
{
tmp = null;
}
}
finally
{
Marshal.FreeHGlobal(ptr);
}
return(tmp);
}
