public static byte[] CreatePacket(byte command, byte[] payload = null)
{
List <byte> packetBuilder = new List <byte>();
if (payload != null && payload.Length > MAX_PAYLOAD_LEN)
{
throw new Exception("HLDC payload too large");
}
packetBuilder.Add(HLDC_FRAME_DELIMITER);
// Build the packet header
HeaderStruct header = new HeaderStruct()
{
command = command,
length = (byte)((payload != null) ? payload.Length : 0)
};
packetBuilder.AddRange(EscapeBytes(StructInterop.StructToByteArray <HeaderStruct>(header)));
// Build the packet payload
UInt16 crc = 0;
if (payload != null)
{
byte[] escapedPayload = EscapeBytes(payload);
packetBuilder.AddRange(escapedPayload);
crc = CalculateCrc(escapedPayload);
}
// BUild the packet footer
FooterStruct footer = new FooterStruct()
{
crc = crc,
};
packetBuilder.AddRange(EscapeBytes(StructInterop.StructToByteArray <FooterStruct>(footer)));
packetBuilder.Add(HLDC_FRAME_DELIMITER);
if (packetBuilder.Count > MAX_PACKET_LEN)
{
throw new Exception("HLDC packet too large");
}
return(packetBuilder.ToArray());
}
public static byte[] CreatePacket <T>(byte command, T struc)
{
byte[] payload = StructInterop.StructToByteArray <T>(struc);
return(CreatePacket(command, payload));
}
/// <summary>
/// Wrapper for TransferPacket(byte command, byte[] payload)
/// </summary>
/// <remarks>
/// Doesn't expect a response. Any response data is discarded,
/// but will still block until a response is received.
/// </remarks>
/// <typeparam name="T">Struct type for payload</typeparam>
/// <param name="command">Command to send</param>
/// <param name="payload">Payload struct</param>
protected void TransferPacket <T>(byte command, T payload)
{
byte[] payload_bytes = StructInterop.StructToByteArray <T>(payload);
TransferPacket(command, payload_bytes);
}
/// <summary>
/// Wrapper for TransferPacket(byte command, byte[] payload)
/// </summary>
///
/// <typeparam name="T">Struct type for payload</typeparam>
/// <typeparam name="R">Struct type for response</typeparam>
/// <param name="command">Command to send</param>
/// <param name="payload">Payload struct</param>
/// <returns>Response struct</returns>
protected R TransferPacket <T, R>(byte command, T payload)
{
byte[] payload_bytes = StructInterop.StructToByteArray <T>(payload);
byte[] response_bytes = TransferPacket(command, payload_bytes);
return(StructInterop.ByteArrayToStruct <R>(response_bytes));
}
