private void SendCommand(byte[] cmd, uint expectCnt, bool writeLog = true)
{
bool connected = robot.isConnected;
cmd[8] = UTIL.CalUBTCheckSum(cmd);
cmd[9] = 0xED;
if (writeLog)
{
AppendLog("\n" + (connected ? ">> " : "") + UTIL.GetByteString(cmd) + "\n");
}
robot.ClearRxBuffer();
if (connected)
{
robot.SendCommand(cmd, 10, expectCnt);
if (writeLog)
{
string msg = "<< ";
if (robot.Available > 0)
{
byte[] result = robot.PeekAll();
msg += UTIL.GetByteString(result);
}
AppendLog(msg);
}
}
}
private bool GetCommand(out byte[] command)
{
string sCommand = txtCommand.Text.Trim();
command = new byte[10];
try
{
Regex rx = new Regex("\\s+");
string input = rx.Replace(sCommand, " ");
string[] sData = input.Split(' ');
command[0] = 0xFA;
command[1] = 0xAF;
for (int i = 0; i < 6; i++)
{
if (i < sData.Length)
{
command[2 + i] = UTIL.GetInputByte(sData[i]);
}
else
{
command[2 + i] = 0x00;
}
}
if (command[3] == 0x01)
{
if (command[5] > command[7])
{
command[7] = command[5];
}
}
command[8] = UTIL.CalUBTCheckSum(command);
command[9] = 0xED;
txtPreview.Text = UTIL.GetByteString(command);
}
catch (Exception)
{
txtPreview.Text = "";
return(false);
}
return(true);
}
