public byte[] PackageCMD(CommandStruct cmdStruct)
{
uint length = Convert.ToUInt32(7 + cmdStruct.paramsLength * 4); //start type2 pL pN state4 parameters4*num checksum end
byte[] SendBytes = new byte[length];
uint j = 0;
//start
SendBytes[j] = cmdStartFlag;
j++;
//type
SendBytes[j] = 0x00;
j++;
SendBytes[j] = (byte)cmdStruct.cmdType;
j++;
//pL pN
SendBytes[j] = 0x04;
j++;
SendBytes[j] = cmdStruct.paramsLength;
j++;
uint i = 0;
//parameters
for (i = 0; i < cmdStruct.paramsLength; i++)
{
int t = 0;
for (t = 0; t < 4; t++)
{
int parmTmp = Convert.ToInt32(cmdStruct.Params[i]);
//little enbian
SendBytes[j] = Convert.ToByte((parmTmp >> (8 * t)) % 256);
j++;
}
}
//package the checksum
SendBytes[j] = getCheckSum(SendBytes);
j++;
//package the end
SendBytes[j] = cmdEndFlag;
return(SendBytes);
}
public CommandStruct UnPackageBytes(byte[] byteCMD)
{
CommandStruct cs = new CommandStruct();
//cs.allBytes = byteCMD;
cs.cmdState = CommandState.CommandState_formateError;
// reponse start
if (byteCMD[0] != reponseStartFlag)
{
return(cs);
}
//type
cs.cmdType = (CommandType)byteCMD[2];
//pL pN
uint paramsLength = byteCMD[paramsLengthIndex]; //default is 4
uint paramsNum = byteCMD[paramsNumIndex];
cs.Params = new uint[byteCMD.Length];
//state param1
byte[] state = new byte[paramsLength];
for (int i = 0; i < paramsLength; i++)
{
state[i] = byteCMD[paramsIndex + i];
}
if (CompareArray(state, new byte[] { 0x00, 0x00, 0x00, 0x00 })) //CommandState_normal = 0
{
cs.cmdState = CommandState.CommandState_normal;
}
else if (CompareArray(state, new byte[] { 0x00, 0x00, 0x00, 0x01 })) //CommandState_accidentlyTouchTop
{
cs.cmdState = CommandState.CommandState_accidentlyTouchTop;
}
else if (CompareArray(state, new byte[] { 0xff, 0xff, 0xff, 0xff })) //CommandState_formateError
{
cs.cmdState = CommandState.CommandState_formateError;
}
else if (CompareArray(state, new byte[] { 0xff, 0xff, 0xff, 0xfe })) //CommandState_parametersError
{
cs.cmdState = CommandState.CommandState_parametersError;
}
else if (CompareArray(state, new byte[] { 0xff, 0xff, 0xff, 0xfd })) //CommandState_busy
{
cs.cmdState = CommandState.CommandState_busy;
}
else // command error
{
return(cs);
}
//parameters
uint t;
for (t = 0; t < paramsNum - 1; t++)
{
uint param = 0;
for (int j = 0; j < paramsLength; j++)
{
// skip state
param += Convert.ToUInt32(byteCMD[paramsIndex + 4 + paramsLength * t + j] * Math.Pow(256, j));
}
cs.Params[t] = param;
}
cs.paramsLength = (byte)(t + 1);
//checksum
//end
if (byteCMD[byteCMD.Length - 1] != reponseEndFlag)
{
cs.cmdState = CommandState.CommandState_formateError;
}
return(cs);
}
