// Constructor
public Radio()
{
physicalSerialPort = new SerialPort("COM2", rate, Parity.None, 8, StopBits.One);
physicalSerialPort.DataReceived += new SerialDataReceivedEventHandler(physicalSerialPort_DataReceived);
physicalSerialPort.Open();
sizeAttNav = AttNav.Serialize(new AttNav()).Length; // Get size of a serialized AttNav
completeAttNav = new byte[sizeAttNav];
sizeDLC = DeadLedControl.Serialize(new DeadLedControl()).Length;
completeDLC = new byte[sizeDLC];
}
} // end Parse
// AttNavCreated Event Handler to send positionMe to the other plane
void positionComputer_AttNavCreated(AttNav positionMe)
{
byte[] buffer = AttNav.Serialize(positionMe);
UInt16 checkSum = CheckSumCalc(buffer);
// Convert the uInt16 checksum to a byte[]
byte[] checkSumBuffer = new byte[2];
checkSumBuffer[0] = (byte)(checkSum >> 8);
checkSumBuffer[1] = (byte)(checkSum); // Casting (byte)(checkSum) just took the least significant (second half of the 16 bits) byte and put it in byte[1]
physicalSerialPort.Write(attNavHeader, 0, attNavHeader.Length);
physicalSerialPort.Write(buffer, 0, buffer.Length);
physicalSerialPort.Write(checkSumBuffer, 0, checkSumBuffer.Length);
physicalSerialPort.Write(attNavFooter, 0, attNavFooter.Length);
}
public void Testing()
{
AttNav tAttNav = new AttNav(-234847615, -379916876, 453814132, 1600, 3100, 780, 456486502, -121722502, 150000, 1, 10000);
DeadLedControl tDLC = new DeadLedControl(1);
byte[] tDlCSerialized = DeadLedControl.Serialize(tDLC);
byte[] tAttNavSerialized = AttNav.Serialize(tAttNav);
byte[] fakeRadioStream1 = new byte[51];
fakeRadioStream1[0] = 0x00; // This is a dummy byte because InsertTestBuffer uses tailindex, which is often 1 because the datareceived event triggers on startup.
fakeRadioStream1[1] = 0xB0;
fakeRadioStream1[2] = 0xB1;
Array.Copy(tAttNavSerialized, 0, fakeRadioStream1, 3, tAttNavSerialized.Length);
UInt16 checkSum = Radio.CheckSumCalc(tAttNavSerialized);
fakeRadioStream1[47] = (byte)(checkSum >> 8);
fakeRadioStream1[48] = (byte)(checkSum);
fakeRadioStream1[49] = 0x0D;
fakeRadioStream1[50] = 0x0A;
byte[] fakeRadioStream2 = new byte[16];
fakeRadioStream2[0] = 0x44;
fakeRadioStream2[1] = 0x4C;
fakeRadioStream2[2] = 0x43;
Array.Copy(tDlCSerialized, 0, fakeRadioStream2, 3, tDlCSerialized.Length);
UInt16 checkSumtDLC = Radio.CheckSumCalc(tDlCSerialized);
fakeRadioStream2[7] = (byte)(checkSumtDLC >> 8);
fakeRadioStream2[8] = (byte)(checkSumtDLC);
fakeRadioStream2[9] = 0x0D;
fakeRadioStream2[10] = 0x0A;
fakeRadioStream2[11] = 0xAA; // Pretty sure these next bytes (11-15) are just noise, intended to make sure the parsing engine can handle noise showing up with real infomation.
fakeRadioStream2[12] = 0xAB;
fakeRadioStream2[13] = 0xAC;
fakeRadioStream2[14] = 0x0F;
fakeRadioStream2[15] = 0x01;
xbee.InsertTestBuffer(fakeRadioStream1);
// Thread.Sleep(10); // shitty sleep
xbee.InsertTestBuffer(fakeRadioStream2);
}