ConfigArgs ParseConfig(byte[] Data)
{ // 0123456790123456789012345
// $07C 00 S 70 72 00 00 00Z\n
ConfigArgs oArgs = new ConfigArgs();
if (Data.Length == 25)
{
if (Data[1] == 48 && Data[2] == 55)
{
oArgs.CompassAddress = ParseHex(Data, 4, 3);
oArgs.SonarAddress1 = ParseHex(Data, 10, 3);
oArgs.SonarAddress2 = ParseHex(Data, 13, 3);
oArgs.SonarAddress3 = ParseHex(Data, 16, 3);
oArgs.SonarAddress4 = ParseHex(Data, 19, 3);
oArgs.SonarAddress5 = ParseHex(Data, 22, 3);
}
}
return(oArgs);
}
private void ProcessIncomingData(List <byte> PortBuffer)
{
byte[] Data;
int Front, Back = 0;
if (PortBuffer.Count > 0)
{
Front = PortBuffer.IndexOf((byte)36);
if (Front > -1)
{
Back = PortBuffer.IndexOf((byte)10, Front);
if (Back > -1)
{
Data = new byte[Back - Front];
PortBuffer.CopyTo(Front, Data, 0, Back - Front);
Front = ((Data[1] - 48) * 10) + (Data[2] - 48);
switch (Front)
{
case (int)RobotOutputType.Announcement:
if (this.AnnounceReceived != null)
{
AnnounceArgs oArgs = new AnnounceArgs();
this.AnnounceReceived(this, oArgs);
}
break;
case (int)RobotOutputType.Error:
if (this.ErrorReceived != null)
{
ErrorArgs oArgs = ParseError(Data);
this.ErrorReceived(this, oArgs);
}
break;
case (int)RobotOutputType.Sensor:
if (this.OutputReceived != null)
{
OutputArgs oArgs = ParseSensor(Data);
this.OutputReceived(this, oArgs);
}
break;
case (int)RobotOutputType.Acknowledge:
if (this.ACKReceived != null)
{
ACKArgs oArgs = new ACKArgs();
oArgs.TimeStamp = ParseHex(Data, 3, 6);
this.ACKReceived(this, oArgs);
}
break;
case (int)RobotOutputType.Configuration:
if (this.ConfigReceived != null)
{
ConfigArgs oArgs = ParseConfig(Data);
this.ConfigReceived(this, oArgs);
}
break;
default:
break;
}
PortBuffer.RemoveRange(0, Back);
// Search through the bytes to find the data you want
// then remove the data from the list. It is good to
// clean up unused bytes (usually everything before
// what you're looking for)
}
// System.Windows.Forms.Message M = new System.Windows.Forms.Message("a");
// MessageReceivedCallBack
}
}
}
