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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 uint 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

		* 

		*/

		uint addr = (((uint)raw[startIndex + 3]) << 24) + (((uint)raw[startIndex + 2]) << 16) + (((uint)raw[startIndex + 1]) << 8) + (((uint)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 void setData(string raw) {

		//1e00007f 1 0 04 03 02 01 96 3f 76 15

		string [] split = null;

		split = raw.Split( new Char [] {' '} );

		if ((split.Length >= 3) && (split.Length <= 11)) {

			try {

				id = System.Convert.ToUInt32(split[0].Trim(), 16);

				ext = (byte)(System.Convert.ToUInt32(split[1].Trim(), 16)&0xFF);

				rtr = (byte)(System.Convert.ToUInt32(split[2].Trim(), 16)&0xFF);

				//testa ext och rtr!

				for (int i = 0; i < split.Length-3; i++) {

					string dummy = split[i+3].Trim();

					if (dummy.Length == 0) break;

					data_length = (byte)((i+1)&0xFF);

					//Console.WriteLine("i: " + i + " i+3: " + (i+3) + " split[i+3]: " +split[i+3]);

					data[i] = (byte)(System.Convert.ToUInt32(dummy, 16)&0xFF);

				}

			}

			catch {

				Console.WriteLine("overflow");

			}

		}

	}

//	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 uint 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;

	}

}