try to dedect indexoutof range

DuinoDCX.sln

@@ -1,55 +0,0 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 16
-VisualStudioVersion = 16.0.31112.23
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DuinoDCX", "DuinoDCX\DuinoDCX.csproj", "{455C59F4-F7BB-4D86-AA69-5704118A805D}"
-EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Bot-Utils", "..\Utils\Bot-Utils\Bot-Utils\Bot-Utils.csproj", "{55EF436B-D16C-49A4-B0E9-BD247E1C6710}"
-EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Utils", "..\Utils\Utils\Utils\Utils.csproj", "{56778709-9E18-4C8B-A44B-AB442AFC31B7}"
-EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Utils-IoT", "..\Utils\Utils-IoT\Utils-IoT\Utils-IoT.csproj", "{728F2CFC-B0B4-42AB-AD4E-F40905B2D461}"
-EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "litjson", "..\Librarys\litjson\litjson\litjson.csproj", "{C67DC10E-9879-44A6-AD1D-AA29EB13E7F0}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DuinoDCXBot", "..\DuinoDCXBot\DuinoDCXBot.csproj", "{5E8700CE-FC44-4574-ACD4-5958AD35ECD3}"
-EndProject
-Global
-	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		Debug|Any CPU = Debug|Any CPU
-		Release|Any CPU = Release|Any CPU
-	EndGlobalSection
-	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{455C59F4-F7BB-4D86-AA69-5704118A805D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{455C59F4-F7BB-4D86-AA69-5704118A805D}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{455C59F4-F7BB-4D86-AA69-5704118A805D}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{455C59F4-F7BB-4D86-AA69-5704118A805D}.Release|Any CPU.Build.0 = Release|Any CPU
-		{55EF436B-D16C-49A4-B0E9-BD247E1C6710}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{55EF436B-D16C-49A4-B0E9-BD247E1C6710}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{55EF436B-D16C-49A4-B0E9-BD247E1C6710}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{55EF436B-D16C-49A4-B0E9-BD247E1C6710}.Release|Any CPU.Build.0 = Release|Any CPU
-		{56778709-9E18-4C8B-A44B-AB442AFC31B7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{56778709-9E18-4C8B-A44B-AB442AFC31B7}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{56778709-9E18-4C8B-A44B-AB442AFC31B7}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{56778709-9E18-4C8B-A44B-AB442AFC31B7}.Release|Any CPU.Build.0 = Release|Any CPU
-		{728F2CFC-B0B4-42AB-AD4E-F40905B2D461}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{728F2CFC-B0B4-42AB-AD4E-F40905B2D461}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{728F2CFC-B0B4-42AB-AD4E-F40905B2D461}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{728F2CFC-B0B4-42AB-AD4E-F40905B2D461}.Release|Any CPU.Build.0 = Release|Any CPU
-		{C67DC10E-9879-44A6-AD1D-AA29EB13E7F0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{C67DC10E-9879-44A6-AD1D-AA29EB13E7F0}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{C67DC10E-9879-44A6-AD1D-AA29EB13E7F0}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{C67DC10E-9879-44A6-AD1D-AA29EB13E7F0}.Release|Any CPU.Build.0 = Release|Any CPU
-		{5E8700CE-FC44-4574-ACD4-5958AD35ECD3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{5E8700CE-FC44-4574-ACD4-5958AD35ECD3}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{5E8700CE-FC44-4574-ACD4-5958AD35ECD3}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{5E8700CE-FC44-4574-ACD4-5958AD35ECD3}.Release|Any CPU.Build.0 = Release|Any CPU
-	EndGlobalSection
-	GlobalSection(SolutionProperties) = preSolution
-		HideSolutionNode = FALSE
-	EndGlobalSection
-	GlobalSection(ExtensibilityGlobals) = postSolution
-		SolutionGuid = {9B9D918F-9E81-490B-A3D1-BA9F10677A7A}
-	EndGlobalSection
-EndGlobal

DuinoDCX/DuinoDCX.csproj

@@ -18,10 +18,6 @@
     <PackageLicenseFile>LICENSE</PackageLicenseFile>
   </PropertyGroup>
 
-  <ItemGroup>
-    <PackageReference Include="System.IO.Ports" Version="5.0.1" />
-  </ItemGroup>
-
   <ItemGroup>
     <None Include="..\LICENSE">
       <Pack>True</Pack>
@@ -34,5 +30,11 @@
     <Content Include="../LICENSE" />
     <Content Include="../README.md" />
   </ItemGroup>
+  <ItemGroup>
+    <PackageReference Include="System.IO.Ports" Version="5.0.1" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\Utils\Utils\Utils\Utils.csproj" />
+  </ItemGroup>
 
 </Project>

DuinoDCX/Ultradrive.cs

@@ -2,6 +2,8 @@
 using System.IO.Ports;
 using System.Threading;
 
+using BlubbFish.Utils;
+
 namespace BlubbFish.IoT.DuinoDCX {
   public class Ultradrive {
     private const Int32 MAX_DEVICES = 16;
@@ -81,7 +83,12 @@ namespace BlubbFish.IoT.DuinoDCX {
 
     public void ProcessIncoming(DateTime now) {
       while(this.serial.BytesToRead > 0) {
-        this.ReadCommands(now);
+        try {
+
+          this.ReadCommands();
+        }catch(Exception e) {
+          Helper.WriteError("Error \"" + e.Message + "\" in: " + e.StackTrace);
+        }
       }
 
       if(this.isFirstRun) {
@@ -164,10 +171,10 @@ namespace BlubbFish.IoT.DuinoDCX {
         Array.Copy(this.dump1, 0, ret, PART_0_LENGTH, PART_1_LENGTH);
         return ret;
       }
-      return new Byte[0];
+      return Array.Empty<Byte>();
     }
 
-    public Byte[] WriteDeviceStatus() => (DateTime.Now - this.lastPing).TotalMilliseconds < TIMEOUT_TIME ? this.pingResponse : (new Byte[0]);
+    public Byte[] WriteDeviceStatus() => (DateTime.Now - this.lastPing).TotalMilliseconds < TIMEOUT_TIME ? this.pingResponse : Array.Empty<Byte>();
 
     public Byte[] WriteDevices() {
       DateTime now = DateTime.Now;
@@ -187,7 +194,7 @@ namespace BlubbFish.IoT.DuinoDCX {
           offset += this.devices[i].response.Length;
         }
       }
-      return total > 0 ? ret : (new Byte[0]);
+      return total > 0 ? ret : Array.Empty<Byte>();
     }
 
     public void SetSelected(Byte deviceId) => this.selectedDevice = deviceId;
@@ -225,7 +232,7 @@ namespace BlubbFish.IoT.DuinoDCX {
       this.WriteSerial(dumpCommand, dumpCommand.Length);
     }
 
-    private void ReadCommands(DateTime now) {
+    private void ReadCommands() {
       Int32 serialdata = this.serial.ReadByte();
       if(serialdata == -1) {
         return;