/// <summary>
/// Sorts packet's bytes into easily accessible structures. Manipulates endianess.
/// </summary>
/// <param name="data">Expects bytes, composed of fully decoded bits (Decode, then SeparatePackets, then DestuffZeros, then PackIntoBytes).</param>
/// <param name="time">x10nS</param>
/// <param name="littleEndian">See Communications.Parse</param>
/// <returns></returns>
public static MechatrolinkPacket Parse(byte[] data, int time, bool littleEndian = false)
{
bool containsSub = data.Length > OrdinaryPacketLength;
byte[][] result = new byte[FieldLength.Count][];
List <byte> fcs = new List <byte>(data.Length - FieldLength[Fields.FCS]);
int current = 0;
for (int i = 0; i < FieldLength.Count; i++)
{
if (OrdinaryPacketFieldsToExclude.Any(x => x == (Fields)i))
{
continue;
}
int l = FieldLength[(Fields)i];
result[i] = new byte[l];
//Multibyte fields may be little-endian at physical layer (in fact they should be, but it turns out they're not...)
//All in all, we'd better implement a switch
for (int j = 0; j < l; j++)
{
result[i][j] = data[current + (littleEndian ? (l - j - 1) : (j))];
if ((Fields)i != Fields.FCS)
{
fcs.Add(result[i][j]);
}
}
current += l;
}
var toParse = result[(int)Fields.CommandData];
if (containsSub)
{
toParse = toParse.Concat(result[(int)Fields.SubcommandData]).ToArray();
}
var packet = new MechatrolinkPacket(result, MechatrolinkCommand.Parse(toParse), time);
packet.ComputedFCS = HDLCManchesterDecoder.ComputeFCS(fcs.ToArray());
packet.FCSError = !packet.ComputedFCS.SequenceEqual(packet.ParsedData[(int)Fields.FCS]);
packet.DatabaseReport = MechatrolinkCommandDatabase.GetReport(packet);
return(packet);
}
protected MechatrolinkPacket(byte[][] d, MechatrolinkCommand cmd, int time) : this(d, cmd)
{
Timestamp = time;
}
protected MechatrolinkPacket(byte[][] d, MechatrolinkCommand cmd)
{
ParsedData = d.Select(x => (x != null) ? x.ToArray() : null).ToArray();
Command = cmd;
}