/// <summary>
/// Read messages from the Arduino
/// </summary>
/// <param name="message"></param>
/// <returns>Returns amount of bytes</returns>
public byte Read(MMessage message)
{
if (this.BytesToRead > 5 &&
this.ReadByte() == message.Begin[0] &&
this.ReadByte() == message.Begin[1])
{
//Read action & Data lenght
message.Action = (byte)this.ReadByte();
message.DataLen = (byte)this.ReadByte();
if (message.DataLen > 58)
{
message.DataLen = 58;
}
this.Read(message.Data, 0, message.DataLen);
message.Data[message.DataLen] = 0;
//Corruption check
this.Read(message.Corruptioncheck, 0, 2);
message.PossiblyCorrupt = message.Corruptioncheck[0] != message.End[0] || message.Corruptioncheck[1] != message.End[1];
return((byte)(message.DataLen + 6));
}
return(0);
}
/// <summary>
/// Write a message to Arduino
/// </summary>
/// <param name="message"></param>
/// <returns></returns>
public byte Write(MMessage message)
{
message.Header[0] = message.Action;
message.Header[1] = message.DataLen;
this.Write(message.Begin, 0, 2);
this.Write(message.Header, 0, 2);
this.Write(message.Data, 0, message.DataLen);
this.Write(message.End, 0, 2);
return((byte)(message.DataLen + 6));
}
/// <summary>
/// Write a message to Arduino
/// </summary>
/// <param name="message"></param>
/// <returns></returns>
public byte Write(MMessage message)
{
message.Header[0] = message.Action;
message.Header[1] = message.DataLen;
this.Write(message.Begin, 0, 2);
this.Write(message.Header, 0, 2);
this.Write(message.Data, 0, message.DataLen);
this.Write(message.End, 0, 2);
return (byte)(message.DataLen + 6);
}
public RP6Control(Arduino arduino)
{
_arduino = arduino;
_moveMessage = new MMessage();
}
/// <summary>
/// Read messages from the Arduino
/// </summary>
/// <param name="message"></param>
/// <returns>Returns amount of bytes</returns>
public byte Read(MMessage message)
{
if (this.BytesToRead > 5 &&
this.ReadByte() == message.Begin[0] &&
this.ReadByte() == message.Begin[1])
{
//Read action & Data lenght
message.Action = (byte)this.ReadByte();
message.DataLen = (byte)this.ReadByte();
if (message.DataLen > 58)
{
message.DataLen = 58;
}
this.Read(message.Data, 0, message.DataLen);
message.Data[message.DataLen] = 0;
//Corruption check
this.Read(message.Corruptioncheck, 0, 2);
message.PossiblyCorrupt = message.Corruptioncheck[0] != message.End[0] || message.Corruptioncheck[1] != message.End[1];
return (byte)(message.DataLen + 6);
}
return 0;
}
