public int Serialize(byte[] buffer, int offset)
{
PacketV2Helper.SetStx(buffer, offset);
PacketV2Helper.SetIncompatFlags(buffer, offset, IncompatFlags);
PacketV2Helper.SetCompatFlags(buffer, offset, CompatFlags);
PacketV2Helper.SetSequence(buffer, offset, Sequence);
PacketV2Helper.SetSystemId(buffer, offset, SystemId);
PacketV2Helper.SetComponenId(buffer, offset, ComponenId);
PacketV2Helper.SetMessageId(buffer, offset, MessageId);
var payloadSize = Payload.Serialize(buffer, offset + PacketV2Helper.PaylodStartIndexInFrame);
PacketV2Helper.SetPayloadSize(buffer, offset, (byte)payloadSize);
PacketV2Helper.SetCrc(buffer, offset, GetCrcEtra());
if (Signature.IsPresent)
{
Signature.Serialize(buffer, offset + payloadSize + PacketV2Helper.PacketV2FrameSize);
}
return(payloadSize + Signature.ByteSize + PacketV2Helper.PacketV2FrameSize);
}
public int Serialize(byte[] buffer, int offset)
{
PacketV2Helper.SetStx(buffer, offset);
PacketV2Helper.SetIncompatFlags(buffer, offset, IncompatFlags);
PacketV2Helper.SetCompatFlags(buffer, offset, CompatFlags);
PacketV2Helper.SetSequence(buffer, offset, Sequence);
PacketV2Helper.SetSystemId(buffer, offset, SystemId);
PacketV2Helper.SetComponenId(buffer, offset, ComponenId);
PacketV2Helper.SetMessageId(buffer, offset, MessageId);
var index = offset + PacketV2Helper.PaylodStartIndexInFrame;
var payloadSize = Payload.Serialize(buffer, index);
Debug.Assert(payloadSize <= byte.MaxValue, $"Wrong payload serialize size (must be {byte.MaxValue} size)");
PacketV2Helper.SetPayloadSize(buffer, offset, (byte)payloadSize);
PacketV2Helper.SetCrc(buffer, offset, GetCrcEtra());
if (Signature.IsPresent)
{
Signature.Serialize(buffer, offset + payloadSize + PacketV2Helper.PacketV2FrameSize);
}
return(payloadSize + Signature.ByteSize + PacketV2Helper.PacketV2FrameSize);
}
public int Deserialize(byte[] buffer, int offset)
{
PacketV2Helper.VerifyStx(buffer, offset);
var payloadSize = PacketV2Helper.GetPayloadSize(buffer, offset);
IncompatFlags = PacketV2Helper.GetIncompatFlags(buffer, offset);
CompatFlags = PacketV2Helper.GetCompatFlags(buffer, offset);
Sequence = PacketV2Helper.GetSequence(buffer, offset);
SystemId = PacketV2Helper.GetSystemId(buffer, offset);
ComponenId = PacketV2Helper.GetComponenId(buffer, offset);
var messageId = PacketV2Helper.GetMessageId(buffer, offset);
if (messageId != MessageId)
{
throw new MavlinkException(string.Format(RS.PacketV2_Deserialize_Error_message_id_type, MessageId, messageId));
}
Payload.Deserialize(buffer, offset + PacketV2Helper.PaylodStartIndexInFrame, payloadSize);
PacketV2Helper.VerifyCrc(buffer, offset, GetCrcEtra());
if (PacketV2Helper.CheckSignaturePresent(buffer, offset))
{
Signature.Deserialize(buffer, PacketV2Helper.GetSignatureStartIndex(buffer, offset));
}
return(payloadSize + Signature.ByteSize + PacketV2Helper.PacketV2FrameSize);
}
