//=======Receiving Data Structure===============================
//typedef struct{
// static char cStart = 0X3A; //起始字元
// unsigned char 0X16; //Slave Address
// unsigned char Command; //命令
// unsigned char LenExpected; //數據長度
// unsigned char DataBuf[DATA_BUF_NUM];//數據內容
// unsigned char LRCDataLow; //checkSum with slave Low byte, included slave address, command, length and data.
// unsigned char LRCDataHigh; //checkSum with slave High byte, included slave address, command, length and data.
// static char cEND1= 0X0D; //結束字元 1
// static char cEND1= 0X0A; //結束字元 2
//} LEV Protocol Packet;
public static bool CMD_Decoding_For_Receiving(byte[] receivingRawData, out byte ReceivedCommand, out byte[] decoding_Parameter)
{
bool IsFound_Packet_Form = false;
ReceivedCommand = 0;
decoding_Parameter = new byte[0];
List <byte> ReceivedDataList = new List <byte>();
int startFormIndex;
int dataLength, endCode1_idx, endCode2_idx;
for (int i = 0; i < (receivingRawData.Length - 1); i++)
{
//finding leading codes
if ((receivingRawData[i] == LeadingCode) && (receivingRawData[i + 1] == SlaveAddressCode))
{
startFormIndex = i;
dataLength = receivingRawData[startFormIndex + 3]; //offset 3 to get receiving data length
endCode1_idx = startFormIndex + 3 + dataLength + 2 + 1; //add offset 2 is two of Cuecksum bytes
endCode2_idx = startFormIndex + 3 + dataLength + 2 + 2; //add offset 2 is two of Cuecksum bytes
//finding Ending Codes
if ((receivingRawData[endCode1_idx] == EndCode1) && (receivingRawData[endCode2_idx] == EndCode2))
{
//calculate checkSum
byte[] CheckBuffer = new byte[dataLength + 3]; //included slave address, command, length and data.
Array.Copy(receivingRawData, startFormIndex + 2, CheckBuffer, 0, CheckBuffer.Length);
ushort checkSum = MassUtilityClass.ComputeCheckSum16(CheckBuffer);
int checkSumLowByte_Index = endCode1_idx - 2;
int checkSumHighByte_Index = checkSumLowByte_Index + 1;
if (receivingRawData[checkSumLowByte_Index] == ((byte)(checkSum)) && receivingRawData[checkSumHighByte_Index] == ((byte)(checkSum >> 8)))
{
//Save data to structure
ReceivedCommand = receivingRawData[startFormIndex + 2];
for (byte j = 0; j < dataLength; j++)
{
ReceivedDataList.Add(receivingRawData[startFormIndex + 4 + j]);
}
IsFound_Packet_Form = true;
break;
}
} //if((ReceivingData[endCode1_idx] == EndingCode1) && (ReceivingData[endCode2_idx] == EndingCode2)){
} //if((ReceivingData[i] == LeadingCode) && (ReceivingData[i+1] == SlaveAddressCode)){
} //for(int i = 0; i < (ReceivingData.Length - 1); i++){
if (IsFound_Packet_Form)
{
decoding_Parameter = ReceivedDataList.ToArray <byte>();
}
return(IsFound_Packet_Form);
}
//========Transmiting Data Structure===========================
//typedef struct{
// static char cStart = 0X3A; //起始字元
// unsigned char 0X16; //Slave Address
// unsigned char Command; //應回應的命令
// unsigned char LenExpected; //數據長度
// unsigned char DataBuf[DATA_BUF_NUM];//數據內容
// unsigned char LRCDataLow; //checkSum with slave Low byte, included slave address, command, length and data.
// unsigned char LRCDataHigh; //checkSum with slave High byte, included slave address, command, length and data.
// static char cEND1= 0X0D; //結束字元 1
// static char cEND1= 0X0A; //結束字元 2
//} LEV Protocol Packet;
public static byte[] CMD_Forming_For_Transmitting(byte Cmd, byte[] Transmit_Parameter)
{
List <byte> TransmitData = new List <byte>();
byte LenExpected = (byte)Transmit_Parameter.Length;
TransmitData.Add(SlaveAddressCode);
TransmitData.Add(Cmd);
TransmitData.Add(LenExpected);
TransmitData.AddRange(Transmit_Parameter);
byte[] CheckBuffer = TransmitData.ToArray <Byte>();
ushort checkSum = MassUtilityClass.ComputeCheckSum16(CheckBuffer);
TransmitData.Add((byte)(checkSum)); // low byte //4 to last byte for packet
TransmitData.Add((byte)(checkSum >> 8)); // high byte //3 to last byte for packet
TransmitData.Add(EndCode1); //2 to last byte for packet
TransmitData.Add(EndCode2); //last byte for packet
TransmitData.Insert(0, LeadingCode); // add first Item
return(TransmitData.ToArray <Byte>());
}
