public void SendPacket(PacketTypes ptype, int nodeId, int sensorID, Commands command, int payload)
{
Packet res = new Packet();
res.PacketType = ptype;
res.NodeID = nodeId;
res.SensorID = sensorID;
res.CommandID = command;
res.Payload = payload;
res.Parity = ComputeParity(); //TODO
spManager.SendSerialData(res.ToStringMessageArray());
}