public void recieve_buffered()
{
if (connection_state != ConnectionState.Connected)
{
return;
}
while (client.Available > 0)
{
if (recieve_state == RecieveState.Key)
{
if (client.Available < 3)
{
break;
}
byte[] cur_key = new byte[3];
if (client.GetStream().Read(cur_key, 0, 3) == 3)
{
// Got key, check it
bool valid_key = true;
for (int i = 0; i < 3; i++)
{
if (cur_key[0] != CommunicationDefinitions.key[0])
{
valid_key = false;
}
}
if (valid_key)
{
recieve_state = RecieveState.Header;
}
else
{
recieve_state = RecieveState.Key;
}
}
}
else if (recieve_state == RecieveState.Header)
{
if (client.Available < 1)
{
break;
}
if (client.GetStream().Read(recieve_buffer, 0, 1) == 1)
{
if (CommunicationDefinitions.PACKET_SIZES.ContainsKey((CommunicationDefinitions.TYPE)recieve_buffer[0]))
{
recieve_size = CommunicationDefinitions.PACKET_SIZES[(CommunicationDefinitions.TYPE)recieve_buffer[0]];
recieve_state = RecieveState.Data;
}
else
{
recieve_state = RecieveState.Key;
}
}
}
else if (recieve_state == RecieveState.Data)
{
if (client.Available < recieve_size)
{
break;
}
if (client.GetStream().Read(recieve_buffer, 1, recieve_size) == recieve_size)
{
CommunicationDefinitions.TYPE type = (CommunicationDefinitions.TYPE)recieve_buffer[0];
if (type == CommunicationDefinitions.TYPE.DATAAGGREGATOR_STATE)
{
StateData.dataaggregator_state.Deserialize(recieve_buffer);
parent.update_indicators();
}
else if (type == CommunicationDefinitions.TYPE.VISION)
{
StateData.vision_data.Deserialize(recieve_buffer);
}
else if (type == CommunicationDefinitions.TYPE.SENSOR_STATE)
{
StateData.sensor_state_data.Deserialize(recieve_buffer);
}
else if (type == CommunicationDefinitions.TYPE.VISION_IMAGE)
{
parent.vision_view.SetImage(recieve_buffer.Skip(1).ToArray());
}
else if (type == CommunicationDefinitions.TYPE.ROBOT_STATE)
{
StateData.robot_state_data.Deserialize(recieve_buffer);
}
else if (type == CommunicationDefinitions.TYPE.REALSENSE)
{
StateData.realsense_data.Deserialize(recieve_buffer);
}
else
{
Console.WriteLine("Invalid Type");
}
recieve_state = RecieveState.Key;
}
}
}
}
public bool recieve(List <byte[]> messages)
{
if (!connected())
{
connect();
}
lock (recieve_lock)
{
try
{
//c Console.WriteLine("Before: {0}" , client.Available);
while (client.Available >= 1)
{
byte[] key = new byte[3];
client.Client.Receive(key, 3, SocketFlags.None);
for (int i = 0; i < 3; i++)
{
if (key[i] != CommunicationDefinitions.key[i])
{
Console.WriteLine("Invalid key");
continue;
}
}
byte[] t = new byte[1];
client.Client.Receive(t, 1, SocketFlags.None);
int size = 127; // defualt size
CommunicationDefinitions.TYPE type = (CommunicationDefinitions.TYPE)t[0];
if (CommunicationDefinitions.PACKET_SIZES.ContainsKey(type))
{
size = CommunicationDefinitions.PACKET_SIZES[type];
}
else
{
Console.WriteLine("invalid type");
continue;
}
byte[] msg = new byte[size + 1];
msg[0] = t[0];
messages.Add(msg);
client.Client.Receive(messages.Last(), 1, size, SocketFlags.None);
}
// Console.WriteLine("After: {0}", client.Available);
return(true);
}
catch
{
_connected = false;
return(false);
}
}
}
