static SerializedCommands Serialize(Message[] messages, Dictionary <int, CommandInfo> infos)
{
//validate
if (messages == null || messages.Length == 0)
{
return(new SerializedCommands());
}
//serialize the command and add to the string
StringBuilder sb = new StringBuilder();
bool fastCommand = false;
foreach (var message in messages)
{
CommandInfo commandInfo = null;
if (infos.TryGetValue(message.ID, out commandInfo))
{
if (commandInfo.FastCommand)
{
fastCommand = true;
}
bool paramOmitted = false;
int? servoCount = (commandInfo.ServoCount != null) ? (int?)commandInfo.ServoCount.GetValue(message) : null;
foreach (var propertyInfo in commandInfo.Properties)
{
//skip param if servo is missing
if (propertyInfo.RequiresServoID != null && servoCount != null && propertyInfo.RequiresServoID.Value > servoCount.Value)
{
continue;
}
var parm = propertyInfo.Property.GetValue(message);
if (parm == null && !propertyInfo.HasDefaultValue)
{
paramOmitted = true;
}
else if (paramOmitted)
{
throw new CommandException($"{propertyInfo.Property.Name} must be omitted when a previous parameter in the command is omitted");
}
sb.Append(ParamerterConverter.SerializeValue(parm, false, propertyInfo.HasDefaultValue));
if (commandInfo.Properties.Last() != propertyInfo)
{
sb.Append(ParamSeporatorChar);
}
}
sb.Append(EndChar);
}
}
//return the commands
return(new SerializedCommands()
{
Commands = sb.ToString(), FastCommand = fastCommand
});
}
static T[] Parse <T>(string data, Dictionary <int, CommandInfo> infos, int?servoCount = null)
{
//validate
if (string.IsNullOrWhiteSpace(data))
{
return(null);
}
//parse the response
var result = new List <T>();
var responseStrings = data.Split(EndChar);
foreach (var responseString in responseStrings)
{
var parameters = SplitParameters(responseString);
//ignore a blank command
if (parameters.Length == 0 || parameters[0].Length == 0)
{
continue;
}
//get the type
int id;
if (!int.TryParse(parameters[0], out id))
{
continue;
}
CommandInfo info = null;
if (!infos.TryGetValue(id, out info))
{
continue;
}
//construct the response
try
{
var response = (T)Activator.CreateInstance(info.CommandType);
for (int i = 1; i < parameters.Length; i++)
{
if (i < info.Properties.Length)
{
var propertyInfo = info.Properties[i];
//skip param if servo is missing
if (propertyInfo.RequiresServoID != null && servoCount != null && propertyInfo.RequiresServoID.Value > servoCount.Value)
{
continue;
}
propertyInfo.Property.SetValue(response, ParamerterConverter.ChangeType(parameters[i], info.Properties[i].Property.PropertyType, propertyInfo.HasDefaultValue));
}
}
//add it to the results
result.Add(response);
}
catch
{
//ignore parsing errors for now
}
}
return(result.ToArray());
}
