Robot Alarm Clock

using System.Runtime.InteropServices;

namespace SpheroAlarmClock
{
	public class CommandPacket
	{
		[StructLayout(LayoutKind.Sequential, Pack = 1)]
		public class CommandPacketData
		{
			public byte SOP1;
			public byte SOP2;
			public byte DID;
			public byte CID;
			public byte Seq;		// echoed by client in response packet
			public byte Dlen;
			public byte Chk;
		}

		public CommandPacketData pkt;

		public CommandPacket()
		{
			pkt = new CommandPacketData();
			pkt.SOP1 = 0xff;
			pkt.SOP2 = 0xff;
			pkt.Dlen = 0x01;		// always 1 because of the Chksum field
		}

		public byte GetChecksum()
		{
			return (byte)(~((pkt.DID + pkt.CID + pkt.Seq + pkt.Dlen) % 256));
		}

        public byte[] CreateDataStream()
        {
            return Form1.StructureToByteArray(pkt);
        }
	}

	public class SetOptionFlagsPacket
	{
		[StructLayout(LayoutKind.Sequential, Pack = 1)]
		public class SetOptionFlagsPacketData
		{
			public byte SOP1;
			public byte SOP2;
			public byte DID;
			public byte CID;
			public byte Seq;		// echoed by client in response packet
			public byte Dlen;
			public byte flagByteMSB;	// highest byte of 32 bits of flags (31-24)
			public byte flagByteLMSB;	// next highest byte of 32 bits of flags (23-16)
			public byte flagByteMLSB;	// next highest byte of 32 bits of flags (15-8)
			public byte flagByteLSB;	// lowest byte of 32 bits of flags (7-0)
			public byte Chk;
		}

		public SetOptionFlagsPacketData pkt;

		public SetOptionFlagsPacket()
		{
			pkt = new SetOptionFlagsPacketData();
			pkt.SOP1 = 0xff;
			pkt.SOP2 = 0xff;
			pkt.Dlen = 5;		// one data byte, one checksum byte
		}

		public byte GetChecksum()
		{
			return (byte)(~((pkt.DID + pkt.CID + pkt.Seq + pkt.Dlen + pkt.flagByteMSB + pkt.flagByteLMSB + pkt.flagByteMLSB + pkt.flagByteLSB) % 256));
		}

		public byte[] CreateDataStream()
		{
			return Form1.StructureToByteArray(pkt);
		}
	}

	public class SetRawMotorPacket
	{
		[StructLayout(LayoutKind.Sequential, Pack = 1)]
		public class SetRawMotorPacketData
		{
			public byte SOP1;
			public byte SOP2;
			public byte DID;
			public byte CID;
			public byte Seq;		// echoed by client in response packet
			public byte Dlen;
			public byte LMode;	// left motor mode
			public byte LPower;	// left motor power
			public byte RMode;	// right motor mode
			public byte RPower;	// right motor powe
			public byte Chk;
		}

		public SetRawMotorPacketData pkt;

		public SetRawMotorPacket()
		{
			pkt = new SetRawMotorPacketData();
			pkt.SOP1 = 0xff;
			pkt.SOP2 = 0xff;
			pkt.Dlen = 5;		// one data byte, one checksum byte
		}

		public byte GetChecksum()
		{
			return (byte)(~((pkt.DID + pkt.CID + pkt.Seq + pkt.Dlen + pkt.LMode + pkt.LPower + pkt.RMode + pkt.RPower) % 256));
		}

		public byte[] CreateDataStream()
		{
			return Form1.StructureToByteArray(pkt);
		}
	}

	public class SetRGBLEDPacket
	{
		[StructLayout(LayoutKind.Sequential, Pack = 1)]
		public class SetRGBLEDPacketData
		{
			public byte SOP1;
			public byte SOP2;
			public byte DID;
			public byte CID;
			public byte Seq;		// echoed by client in response packet
			public byte Dlen;
			public byte Red;	
			public byte Green;
			public byte Blue;
			public byte flag;
			public byte Chk;
		}

		public SetRGBLEDPacketData pkt;

		public SetRGBLEDPacket()
		{
			pkt = new SetRGBLEDPacketData();
			pkt.SOP1 = 0xff;
			pkt.SOP2 = 0xff;
			pkt.Dlen = 5;		// one data byte, one checksum byte
		}

		public byte GetChecksum()
		{
			return (byte)(~((pkt.DID + pkt.CID + pkt.Seq + pkt.Dlen + pkt.Red + pkt.Green + pkt.Blue + pkt.flag) % 256));
		}

		public byte[] CreateDataStream()
		{
			return Form1.StructureToByteArray(pkt);
		}
	}

    public class ResponsePacket
	{
		[StructLayout(LayoutKind.Sequential, Pack = 1)]
		public class Packet
		{
			public byte SOP1;
			public byte SOP2;
			public byte Mrsp;		// response from client
			public byte Seq;		// echoed from command packet
			public byte Dlen;		// length of data section
            public byte[] buf = new byte[0xFF];  // buffer for data section
			public byte Chk;
            public byte CalcChkSum; // Calculated checksum
            public bool ChksumError; // Set to true if the checksum does not match
		}

		//public int Size;
		public Packet pkt;

		public ResponsePacket()
		{
			pkt = new Packet();

			pkt.SOP1 = 0xff;
			pkt.SOP2 = 0xff;
			pkt.Dlen = 1;
			//Size = 6;
		}

        public void MoveDataReceivedToResponsePacket(byte[] dataReceived)
        {
            byte dataCounter = 0;
            int totalNumOfBytes = 0;

            pkt.SOP1 = dataReceived[totalNumOfBytes++];
            pkt.SOP2 = dataReceived[totalNumOfBytes++];
            pkt.Mrsp = dataReceived[totalNumOfBytes++];
            pkt.Seq = dataReceived[totalNumOfBytes++];
            pkt.Dlen = dataReceived[totalNumOfBytes++];
            while (dataCounter < (pkt.Dlen - 1))  // Subtract 1 from data length for checksum byte
            {
                pkt.buf[dataCounter] = dataReceived[totalNumOfBytes++];
                dataCounter++;
            }
            pkt.Chk = dataReceived[totalNumOfBytes];

            pkt.CalcChkSum = 0;    // Intialize to 0
            for (int i = 2; i < totalNumOfBytes; i++)  // calculate the checksum not including SOP1 and SOP2 and checksum byte
                pkt.CalcChkSum += dataReceived[i];    
            pkt.CalcChkSum = (byte)(~pkt.CalcChkSum);
            pkt.ChksumError = (!(pkt.CalcChkSum == pkt.Chk));     // Set error result equal to result of comparison between calculated and received checksum
        }
	}

	enum MessageResponseCodes
	{
		ORBOTIX_RSP_CODE_OK = 0,				// command succedded
		ORBOTIX_RSP_CODE_EGEN,					// general, non-specific error
		ORBOTIX_RSP_CODE_ECHKSUM,				// command check sum failed
		ORBOTIX_RSP_CODE_EFRAG,					// received command fragment
		ORBOTIX_RSP_CODE_EBAD_CMD,				// unknown command id
		ORBOTIX_RSP_CODE_EUNSUPP,				// command currently unsupported
		ORBOTIX_RSP_CODE_EBAD_MSG,				// bad message format
		ORBOTIX_RSP_CODE_EPARAM,				// parameter 
		ORBOTIX_RSP_CODE_EEXEC,					// failed to execute command
	};

    public enum ResponseResults
    {
        GOOD = 1,
        TIMEOUT,
        BAD_CODE
    };
}