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using System;

using System.Collections.Generic;

using System.Text;

public class CanPacket {

    private byte pktclass = 0;

//  private byte type = 0;

//  private byte sid = 0;

//  private byte rid = 0;

    private byte data_length = 0;

    private ulong id = 0;

    private byte[] data = new byte[8];

    private byte ext = 0;

    private byte rtr = 0;

    public CanPacket(byte[] raw,uint startIndex) {

        // 17 bytes, a packet.

        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE

        /*

        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR

        *

        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...

        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]

        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID

        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID

        *

        */

        ulong addr = (((ulong)raw[startIndex + 3]) << 24) + (((ulong)raw[startIndex + 2]) << 16) + (((ulong)raw[startIndex + 1]) << 8) + (((ulong)raw[startIndex + 0]));

        this.id = addr;

        this.pktclass = (byte)((addr & 0x1E000000) >> 25);

//      this.type =  (byte)((addr & 0x00FF0000) >> 16);

//      this.sid =    (byte)((addr & 0x0000FF00) >> 8);

//      this.rid =    (byte)((addr & 0x000000FF));

        this.data_length = raw[startIndex + 6];

        ext = (byte)(0x0f & raw[startIndex + 4]);

        rtr = (byte)(0x0f & raw[startIndex + 5]);

        for (int i = 0; i < 8; i++) this.data[i] = raw[startIndex + 7 + i];

    }

    public CanPacket(string raw) {

    }

//  public CanPacket(byte pktclass, byte type, byte sid, byte rid, byte data_length, byte[] data, byte rtr, byte ext) { 

//      this.pktclass=pktclass;

//      this.type=type;

//      this.sid=sid;

//      this.rid=rid;

//      this.data_length=data_length;

//      for(int i=0;i<8;i++) this.data[i]=data[i];

//      this.ext = (byte)(0x0f & ext);

//      this.rtr = (byte)(0x0f & rtr);

//  }

    public override int GetHashCode() {

        return base.GetHashCode();

    }

    public override bool  Equals(Object obj) {

        CanPacket cpm = (CanPacket)obj;

        byte[] bytes = cpm.getData();

        for(int i=0;i<8;i++) if (this.data[i]!=bytes[i]) return false;

        return (this.id==cpm.getId() && this.data_length==cpm.getDataLength());

    }

    public ulong getId() { return this.id; }

    public byte getPktClass(){ return this.pktclass; }

//  public uint getType(){ return this.type; }

//  public uint getSid(){ return this.sid; }

//  public uint getRid(){ return this.sid; }

    public byte getDataLength(){ return this.data_length; }

    public byte[] getData(){ return this.data; }

//  public override string ToString() {

//      string str = "";

//      str = "pktclass: "+pktclass.ToString()+", type: "+type.ToString()+", sid: "+sid.ToString()+", rid: "+rid.ToString()+",data_length: "+data_length.ToString()+", data: ";

//      for (int i = 0; i < 8; i++) str+=data[i].ToString()+" ";

//      return str;

//  }

    public string toRawString() {

        string returnstring = "PKT " + String.Format("{0:x8}", id);

        returnstring = returnstring + " " + String.Format("{0:x1}", ext) + " " + String.Format("{0:x1}", rtr);

        for (int i = 0; i < data_length; i++) {

            returnstring = returnstring + " " + String.Format("{0:x2}", data[i]);

        }

        //returnstring = returnstring + "\n";

        return returnstring;

    }

    public byte[] getBytes() {

        byte[] bytes = new byte[15];

        // 17 bytes, a packet.

        // UART_START_BYTE id[0] id[1] id[2] id[3] extended remote_request data_length d[0] d[1] d[2] d[3] d[4] d[5] d[6] d[7] UART_END_BYTE

        /*

        * 000CCCCx TTTTTTTT SSSSSSSS RRRRRRRR

        *

        * <CLASS> = 00011110 00000000 00000000 00000000 = 0x1E000000    NMT, ...

        * <TYPE>  = 00000000 11111111 00000000 00000000 = 0x00FF0000    NMT[CAN_NMT_PGM_START, CAN_ID_NMT_PGM_ACK, ...]

        * <SID>   = 00000000 00000000 11111111 00000000 = 0x0000FF00    Sender ID

        * <RID>   = 00000000 00000000 00000000 11111111 = 0x000000FF    Receiver ID

        *

        */

        bytes[3] = (byte)((id & 0xFF000000) >> 24);

        bytes[2] = (byte)((id & 0x00FF0000) >> 16);

        bytes[1] = (byte)((id & 0x0000FF00) >> 8);

        bytes[0] = (byte)((id & 0x000000FF));

        bytes[4]=ext;

        bytes[5]=rtr;

        bytes[6]=this.data_length;

        for(int i=0;i<8;i++) bytes[i+7]=this.data[i];

        return bytes;

    }

}