public static void SendMessage(Socket udp, byte id, params byte[] payload) { byte[] msg = new byte[payload.Length + 4]; uint innerLen = (uint)payload.Length; // bridge message format (all numbers big endian) // bridge command - UINT8 (0 = transmit) // --start payload-- // inner command - UINT8 // inner payload length - UINT16 // payload msg[0] = BRIDGE_CMD_TX; msg[1] = id; msg[2] = (byte)((innerLen >> 8) & 0xff); msg[3] = (byte)(innerLen & 0xff); // copy over the payload Buffer.BlockCopy(payload, 0, msg, 4, payload.Length); // send that ish out udp.SendTo(msg, ControllerEP); if (payload.Length == 8) { msg = new byte[payload.Length + 9]; BigEndianBinaryWriter writer = new BigEndianBinaryWriter(msg); // write a slot for the timestamp (zero as we don't have any timestamp) writer.WriteUInt16(0); writer.WriteInt32(0); // write message type writer.WriteByte(ACT_FEEDBACK_CMDRECEIVED); // write the length as bullstuff writer.WriteInt16(0); // only send for all message // change the message ID, only send a subset of the stuffs writer.WriteBytes(payload); // set the stuff stuff udp.SendTo(msg, MulticastEP); } }