public static byte[] Serialize(ISerialize message)
{
byte[] frame = new byte[3];
BitUtil.WriteUnsigned(ref frame, Constants.RTCM_PREAMBLE, 0, 8);
BitUtil.WriteUnsigned(ref frame, (uint)message.ByteLength, 14, 10);
List <byte> completeMessage = new List <byte>(frame);
byte[] messageBytes = new byte[message.ByteLength];
message.GetBytes(ref messageBytes);
completeMessage.AddRange(messageBytes);
byte[] crcBytes = BitConverter.GetBytes(CRC24Q.crc24q(completeMessage.ToArray(), completeMessage.Count, 0));
completeMessage.Add(crcBytes[0]);
completeMessage.Add(crcBytes[1]);
completeMessage.Add(crcBytes[2]);
return(completeMessage.ToArray());
}
public ParsedMessage?Parse(byte[] data)
{
lock (_syncObject)
{
_buffer.AddRange(data);
int preambleIndex = 0;
while (preambleIndex < _buffer.Count && _buffer[preambleIndex] != Constants.RTCM_PREAMBLE)
{
preambleIndex++;
}
if (preambleIndex >= _buffer.Count)
{
_buffer.Clear();
return(null);
}
_buffer.RemoveRange(0, preambleIndex);
if (_buffer.Count < 3)
{
return(null);
}
byte[] buffer = _buffer.ToArray();
int messageLength = (int)BitUtil.GetUnsigned(buffer, 14, 10);
if (messageLength + 6 > buffer.Length)
{
return(null);
}
_buffer.RemoveRange(0, messageLength + 6);
uint crcValue = (uint)BitUtil.GetUnsigned(buffer, (messageLength + 3) * 8, 24);
uint crcCalc = CRC24Q.crc24q(buffer, messageLength + 3, 0);
if (crcValue != crcCalc)
{
throw new Exception("CRC is not valid");
}
byte[] messageBytes = new byte[messageLength];
Array.Copy(buffer, 3, messageBytes, 0, messageLength);
int messageNumber = (int)BitUtil.GetUnsigned(messageBytes, 0, 12);
Enums.Messages messageEnum = Enums.Messages.Unknown;
if (Enum.IsDefined(typeof(Enums.Messages), messageNumber))
{
messageEnum = (Enums.Messages)(int) messageNumber;
}
if (messageEnum == Enums.Messages.Unknown)
{
throw new Exception("MessageNumber: " + messageNumber + " cant be parsed, no valid C# type");
}
if (MESSAGE_DICTIONARY.ContainsKey(messageEnum))
{
object message = Activator.CreateInstance(MESSAGE_DICTIONARY[messageEnum], messageBytes);
return(new ParsedMessage(messageEnum, message));
}
return(null);
}
}