//DoneWithCrutch
public static BodyFormat ReceiveFullBody(SerialPort serialPort, int length, int timeout = 1000)
{
byte[] rawData = new byte[HeaderFormat.getHeaderFormatSize() + length + 4];
serialPort.WriteTimeout = timeout;
Utils.ReadData(serialPort, rawData, HeaderFormat.getHeaderFormatSize() + length + 4);
Debug.WriteLine($"Data header received");
//Crutch
headerByteArrayCrutch = rawData.Take(HeaderFormat.getHeaderFormatSize()).ToArray();
byte[] bodyTmp = rawData.Skip(HeaderFormat.getHeaderFormatSize()).Take(length + 4).ToArray();
BodyFormat dataWithCrc = new BodyFormat(bodyTmp);
//Crutch
return(dataWithCrc);
}
//Done
public static TransmittedData ReceiveData(SerialPort serialPort)
{
TransmittedData recievedData = new TransmittedData(0, 0, new byte[5000000]);
HeaderFormat header;
BodyFormat body;
while (true)
{
Thread.Sleep(10);
try
{
header = ReceiveHeader(serialPort);
}
catch (Exception)
{
serialPort.DiscardInBuffer();
Debug.WriteLine("Wrong format Header");
continue;
}
if (!HeaderFormat.CheckHeaderCrc(header))
{
serialPort.DiscardInBuffer();
Debug.WriteLine("Wrong CRC Header");
continue;
}
if (header.PacketNum + 1 == TransmittedData.packetCounter)
{
serialPort.DiscardInBuffer();
Debug.WriteLine("Packet Number is invalid");
Send.SendACK(serialPort, TransmittedData.packetCounter);
}
Send.SendACK(serialPort, TransmittedData.packetCounter + 1);
if (header.Length == 0)
{
recievedData.MessageCode = header.MessageCode;
recievedData.Length = header.Length;
return(recievedData);
}
break;
}
while (true)
{
HeaderFormat recievedHeader;
try
{
body = ReceiveFullBody(serialPort, header.Length);
recievedHeader = new HeaderFormat(headerByteArrayCrutch);
}
catch (Exception)
{
serialPort.DiscardInBuffer();
Debug.WriteLine("Wrong format Header");
continue;
}
if (!BodyFormat.CheckBodyCrc(body.Data, body.Crc))
{
serialPort.DiscardInBuffer();
Debug.WriteLine("When receiving Full Data package, Header CRC is invalid");
continue;
}
if (recievedHeader.PacketNum + 1 == TransmittedData.packetCounter)
{
serialPort.DiscardInBuffer();
Debug.WriteLine("Packet Number is invalid");
Send.SendACK(serialPort, TransmittedData.packetCounter);
}
if (recievedHeader.Length == 0 || !BodyFormat.CheckBodyCrc(body.Data, body.Crc))
{
serialPort.DiscardInBuffer();
Debug.WriteLine("CRC of Full Body is invalid");
continue;
}
Send.SendACK(serialPort, TransmittedData.packetCounter + 1);
recievedData.MessageCode = recievedHeader.MessageCode;
recievedData.Length = recievedHeader.Length;
recievedData.Data = body.Data;
break;
}
TransmittedData.packetCounter++;
return(recievedData);
}
//Done
public static void SendFullBody(SerialPort serialPort, byte[] header, byte[] rawData)
{
byte[] fullDataWithCrc = Utils.appendTwoArrays(header, BodyFormat.PrepareBodyToSend(rawData));
serialPort.Write(fullDataWithCrc, 0, fullDataWithCrc.Length);
Debug.WriteLine($"Full body sended");
}