TProPCMonitor/LoraGamepad/Util/SerialPipeIN.cs

/// 串口
///
///
/// FRAME:<ADDRESS><LENGTH><TYPE><PALOAD><CRC>
// ADDRESS: FLIGHT_CONTROL 0XC8
// LENGTH: CONTAIN TYPE,PALOAD,CRC
// TYPE: LINK STATE 0X14
//       CHANNEL 0X16
// CRC: CRC8_DVB_S2 1BYTE

using System;
using System.Collections.Concurrent;
using System.Linq;
using System.Threading;

namespace LoraGamepad.Util;
public class SerialPipeIn: IAsyncPipe<byte,byte[]>
{
    private const int TpyeAndCrcLength = 2;
    private const int HeaderAndLenLength = 2;
    private const int FrameCrcLength = 1;
    protected override void Process(ConcurrentQueue<byte> queue)
    {
        if (!queue.TryPeek(out var first))
        {
            SpinWait.SpinUntil(() => false, 1);
            // 队列无数据
            return;
        }
        
        if (0xC8 != first) {
            // 未匹配到包头,扔掉继续
            queue.TryDequeue(out _);
            return;
        }
        
        if (queue.Count < 10) {
            // 数据长度过低
            return;
        }

        var packLength = queue.ElementAt(1);
        if (queue.Count < packLength + HeaderAndLenLength)
        {
            return;
        }
        
        var pack = queue.Take(packLength + HeaderAndLenLength).ToArray();
        var crc = pack[packLength + HeaderAndLenLength - FrameCrcLength];
        if (crc != CrcUtil.CRC8_Calculate(pack.Skip(HeaderAndLenLength).SkipLast(FrameCrcLength).ToArray())) {
            // crc校验失败，砍头
            queue.TryDequeue(out _);
            return;
        }

        // 队列消除整包数据
        for (var i = 0; i < packLength + HeaderAndLenLength; i++) {
            queue.TryDequeue(out _);
        }

        // 输出数据，砍头砍尾
        // Console.WriteLine(BitConverter.ToString(pack));
        OnOut(pack.Skip(HeaderAndLenLength).SkipLast(FrameCrcLength).ToArray());
    }
}