private void HandleDataValueMessage(Stream s)
{
// construct a binary reader
BinaryReader reader = new BinaryReader(s);
// get the sequence number
int seqNo = reader.ReadInt32();
// calculate how many packet we've missed
// we are expecting a difference of 1 in the sequence numbers
int missed = seqNo - lastSeqNo - 1;
// if the difference is less than zero, something stuff is going on
if (missed > 0 && lastSeqNo != -1)
{
missedCount += missed;
}
// set the last sequence number
lastSeqNo = seqNo;
// increment the received count
receivedCount++;
// get the data item name
string diName = reader.ReadString();
// get the time
CarTimestamp t = reader.ReadDouble();
// read the data type code
DataTypeCode dtc = (DataTypeCode)reader.ReadInt32();
// handle the type appropriately
object value = null;
switch (dtc)
{
case DataTypeCode.Double:
value = reader.ReadDouble();
break;
case DataTypeCode.Single:
value = reader.ReadSingle();
break;
case DataTypeCode.Int8:
value = reader.ReadSByte();
break;
case DataTypeCode.Int16:
value = reader.ReadInt16();
break;
case DataTypeCode.Int32:
value = reader.ReadInt32();
break;
case DataTypeCode.Int64:
value = reader.ReadInt64();
break;
case DataTypeCode.UInt8:
value = reader.ReadByte();
break;
case DataTypeCode.UInt16:
value = reader.ReadUInt16();
break;
case DataTypeCode.UInt32:
value = reader.ReadUInt32();
break;
case DataTypeCode.UInt64:
value = reader.ReadUInt64();
break;
case DataTypeCode.Boolean:
value = reader.ReadBoolean();
break;
case DataTypeCode.DateTime:
value = DateTime.FromBinary(reader.ReadInt64());
break;
case DataTypeCode.TimeSpan:
value = new TimeSpan(reader.ReadInt64());
break;
case DataTypeCode.Coordinates:
value = new Coordinates(reader.ReadDouble(), reader.ReadDouble());
break;
case DataTypeCode.Circle:
value = new Circle(reader.ReadDouble(), new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
break;
case DataTypeCode.Line:
value = new Line(new Coordinates(reader.ReadDouble(), reader.ReadDouble()), new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
break;
case DataTypeCode.LineSegment:
value = new LineSegment(new Coordinates(reader.ReadDouble(), reader.ReadDouble()), new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
break;
case DataTypeCode.Polygon: {
CoordinateMode coordMode = (CoordinateMode)reader.ReadInt32();
int count = reader.ReadInt32();
Polygon pg = new Polygon(coordMode);
for (int i = 0; i < count; i++)
{
pg.Add(new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
}
value = pg;
}
break;
case DataTypeCode.Bezier: {
value = new CubicBezier(
new Coordinates(reader.ReadDouble(), reader.ReadDouble()),
new Coordinates(reader.ReadDouble(), reader.ReadDouble()),
new Coordinates(reader.ReadDouble(), reader.ReadDouble()),
new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
}
break;
case DataTypeCode.LineList: {
LineList linelist = new LineList();
int ll_count = reader.ReadInt32();
linelist.Capacity = ll_count;
for (int i = 0; i < ll_count; i++)
{
linelist.Add(new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
}
value = linelist;
}
break;
case DataTypeCode.CoordinatesArray: {
int numPts = reader.ReadInt32();
Coordinates[] pts = new Coordinates[numPts];
for (int i = 0; i < numPts; i++)
{
pts[i] = new Coordinates(reader.ReadDouble(), reader.ReadDouble());
}
value = pts;
}
break;
case DataTypeCode.LineListArray: {
int numLineList = reader.ReadInt32();
LineList[] lineLists = new LineList[numLineList];
for (int i = 0; i < numLineList; i++)
{
int numPoints = reader.ReadInt32();
lineLists[i] = new LineList(numPoints);
for (int j = 0; j < numPoints; j++)
{
lineLists[i].Add(new Coordinates(reader.ReadDouble(), reader.ReadDouble()));
}
}
value = lineLists;
}
break;
case DataTypeCode.PolygonArray: {
int numPolys = reader.ReadInt32();
Polygon[] polys = new Polygon[numPolys];
for (int i = 0; i < numPolys; i++)
{
int numPoints = reader.ReadInt32();
polys[i] = new Polygon(numPoints);
for (int j = 0; j < numPoints; j++)
{
polys[i].Add(ReadReducedCoord(reader));
}
}
value = polys;
}
break;
case DataTypeCode.ObstacleArray: {
int numObs = reader.ReadInt32();
OperationalObstacle[] obstacles = new OperationalObstacle[numObs];
for (int i = 0; i < numObs; i++)
{
OperationalObstacle obs = new OperationalObstacle();
obs.age = reader.ReadInt32();
obs.obstacleClass = (ObstacleClass)reader.ReadInt32();
obs.ignored = reader.ReadBoolean();
obs.headingValid = reader.ReadBoolean();
obs.heading = reader.ReadDouble();
int numPoints = reader.ReadInt32();
obs.poly = new Polygon(numPoints);
for (int j = 0; j < numPoints; j++)
{
obs.poly.Add(ReadReducedCoord(reader));
}
obstacles[i] = obs;
}
value = obstacles;
}
break;
case DataTypeCode.BinarySerialized:
if (reader.ReadByte() == 0)
{
value = formatter.Deserialize(s);
}
else
{
DeflateStream ds = new DeflateStream(s, CompressionMode.Decompress, true);
value = formatter.Deserialize(ds);
}
break;
default:
// unknown type
throw new InvalidOperationException();
}
// check if there is no value
if (value == null)
{
return;
}
// check if we have the data item
IDataItemClient diObj;
if (!items.TryGetValue(diName, out diObj))
{
// build the data item
Type diGenType = typeof(DataItemClient <>);
Type diType = diGenType.MakeGenericType(value.GetType());
diObj = (IDataItemClient)Activator.CreateInstance(diType, diName);
Add(diName, diObj);
}
diObj.AddDataItem(value, t);
}
