public bool IS_consistentCheckSumByte()
{
if (C_CheckSum.GET_checkSum_fromWholePacket(PacketBytes) == 0)
{
return(true);
}
else
{
return(false);
}
}
public byte[] CREATE_instructionPacket_bytes(bool forChecksum)
{
// Instruction Packet = from pc to servo
// OXFF | 0XFF | ID | LENGTH | INSTRUCTION | PARAMETER_1 | … | PARAMETER_N | CHECK_SUM
// this function adds first two startBytes [0xFF,0xFF], its id byte, length byte, instruction byte and Checksum byte
// around parameters and returns the byte array of it
//packetNumOfBytes = par.Count + 4;
byte[] _packetBytes = new byte[packetNumOfBytes];
//List<byte> _lsPacketBytes = new List<byte>(5);
int q = 0;
// id
_packetBytes[IndexOfId] = byteId;
// length byte
_packetBytes[IndexOfLength] = byteLength;
// instruction
_packetBytes[IndexOfInstructionOrError] = byteInstructionOrError;
// parameters
q = IndexOfFirstParam;
foreach (byte by in par)
{
_packetBytes[q] = by;
q++;
}
// checksum - counted without PACKETSTART
_packetBytes[q] = C_CheckSum.GET_checkSum_fromDataBytes(_packetBytes);
// packet start
for (q = IndexOfPacketStart; q < C_DynAdd.SIZEOF_PACKETSTART; q++)
{
_packetBytes[q] = C_DynAdd.PACKETSTART[q];
}
if (forChecksum == true)
{
int from = C_DynAdd.INDEXOF_ID_IN_STATUSPACKET;
int count = packetNumOfBytes - from - C_DynAdd.SIZEOF_CHECKSUM;
return((new ArraySegment <byte>(_packetBytes, from, count)).ToArray());
}
else
{
return(_packetBytes);
}
}
//public C_Packet(C_Packet pack):
//{
// IdByte = pack.idByte;
// lengthByte = pack.lengthByte;
//}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion constructor
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region REFRESH
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public void REFRESH_checkSum()
{
// count checksum from whole cmd
byteCheckSum = C_CheckSum.GET_checkSum_fromWholePacket(PacketBytes);
}