public void EncodeAndSendMessage(object sender, MessageByteArgs e)
{
short PayloadLenghtTest = Protocol_Security.CheckFunctionLenght(e.MsgFunction);
ushort msgPayloadLenght = (ushort)e.MsgPayload.Length;
if (PayloadLenghtTest != -2)
{
if (PayloadLenghtTest != -1)
{
msgPayloadLenght = (ushort)PayloadLenghtTest;
}
}
if (msgPayloadLenght == e.MsgPayload.Length)
{
byte[] msg = EncodeWithoutChecksum(e.MsgFunction, msgPayloadLenght, e.MsgPayload);
byte checksum = CalculateChecksum(e.MsgFunction, msgPayloadLenght, e.MsgPayload);
msg[msg.Length - 1] = checksum;
OnSendMessage(e.MsgFunction, msgPayloadLenght, e.MsgPayload, checksum);
}
else
{
OnWrongPayloadSent();
}
if (PayloadLenghtTest == -2)
{
OnUnknownFunctionSent();
}
}
static public void PrintWrongMessage(object sender, MessageByteArgs e)
{
if (Console.CursorLeft != 0)
{
Console.WriteLine();
}
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("\n /!\\ WARNING AN MESSAGED HAD BEEN CORRUPTED /!\\");
Console.ResetColor();
}
static public void PrintSendMsg(object sender, MessageByteArgs e)
{
Console.ResetColor();
if (Console.CursorLeft != 0)
{
Console.WriteLine();
}
Console.Write(hex_sender_index++ + ": ");
Console.ForegroundColor = ConsoleColor.Black;
Console.BackgroundColor = ConsoleColor.Magenta;
Console.Write("0x" + e.SOF.ToString("X2") + " ");
Console.BackgroundColor = ConsoleColor.Yellow;
Console.Write("0x" + e.functionMsb.ToString("X2") + " 0x" + e.functionLsb.ToString("X2") + " ");
Console.BackgroundColor = ConsoleColor.Cyan;
Console.Write("0x" + e.lenghtMsb.ToString("X2") + " 0x" + e.lenghtLsb.ToString("X2") + " ");
Console.BackgroundColor = ConsoleColor.White;
foreach (byte x in e.MsgPayload)
{
Console.Write("0x" + x.ToString("X2") + " ");
}
Console.BackgroundColor = ConsoleColor.Green;
Console.Write("0x" + e.checksum.ToString("X2") + " ");
Console.ResetColor();
}
//Input CallBack
public void ProcessRobotDecodedMessage(object sender, MessageByteArgs e)
{
ProcessDecodedMessage((Int16)e.MsgFunction, (Int16)e.MsgPayloadLength, e.MsgPayload);
}
static public void PrintWrongChecksum(object sender, MessageByteArgs e)
{
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("0x" + e.checksum.ToString("X2") + " ");
Console.ResetColor();
}
public void DisplayMessageDecodedError(object sender, MessageByteArgs e)
{
nbMsgReceivedErrors += 1;
}
