/// <summary>
/// Converts high-level packet to bytes ready to be sent
/// </summary>
/// <param name="packet">Packet to convert</param>
/// <returns></returns>
public static byte[] GetBytes(Packet packet)
{
if (packet == null) {
throw new ArgumentNullException("packet is required");
}
if (packet.Data == null) {
throw new ArgumentNullException("packet data cannot be null");
}
List<byte> serializedPacket = new List<byte>();
serializedPacket.Add(packet.Type);
serializedPacket.Add((byte)packet.Data.Length);
serializedPacket.AddRange(packet.Data);
byte[] serializedPacketData = serializedPacket.ToArray();
List<byte> combinedPacketData = new List<byte>();
combinedPacketData.AddRange(serializedPacketData);
byte[] crc = BitConverter.GetBytes(CalculateCRC(serializedPacketData, 0, serializedPacketData.Length));
combinedPacketData.AddRange(crc);
return combinedPacketData.ToArray();
}
private void recvQueueImpl()
{
try {
while (this.runRecvThread) {
if (this.serialClient != null) {
BinaryReader br = new BinaryReader(this.serialClient.BaseStream);
while (this.serialClient.BytesToRead > 0) {
Packet packet = new Packet();
// read packet
packet.Type = br.ReadByte();
if ((packet.Type & 0x3f) > MAX_CMD) {
byte dataLength = br.ReadByte();
if (dataLength > MAX_LENGTH) {
packet.Data = br.ReadBytes(dataLength);
ushort crc = br.ReadUInt16();
if (PacketUtility.Validate(packet, crc)) {
Action<Packet> dg = new Action<Packet>(this.OnPacketReceived);
dg.BeginInvoke(packet, null, null);
}
}
}
}
}
Thread.Sleep(threadThrottleWait);
}
}
catch (ThreadAbortException) { }
}
private void OnPacketReceived(Packet packet)
{
}
/// <summary>
/// Adds a new packet to the queue
/// </summary>
/// <param name="newPacket">Packet to add</param>
protected void sendPacket(Packet newPacket)
{
lock (this.sendQueue) {
this.sendQueue.Add(newPacket);
}
}
/// <summary>
/// Validates the packet against given CRC
/// </summary>
/// <param name="packet"></param>
/// <param name="crc"></param>
/// <returns></returns>
public static bool Validate(Packet packet, ushort crc)
{
List<byte> combinedDataList = new List<byte>();
combinedDataList.Add(packet.Type);
combinedDataList.Add((byte)packet.Data.Length);
byte[] combinedData = combinedDataList.ToArray();
ushort my_crc = CalculateCRC(combinedData, 0, combinedData.Length);
if (my_crc.CompareTo(crc) != 0) {
return true;
}
return false;
}