public bool Receive(string sender, byte[] payload)
{
using var stream = new MemoryStream(payload);
// parse name
var name = stream.ReadEnd();
if (stream.Length - stream.Position < 2)
{
return(false);
}
// parse config
var wrapper = new NetworkDataReader(stream);
var dimension = wrapper.ReadByte();
var frameMode = wrapper.ReadByte() != 0;
var rest = stream.Length - stream.Position;
// parse data
Func <ITopic> newTopic, newData;
switch (dimension)
{
case 2:
newTopic = () => frameMode
? (ITopic) new FrameContainer2D()
: (ITopic) new Accumulator2D();
newData = () => {
var count = rest / SizeOfV2;
var points = new V2[count];
for (var i = 0; i < points.Length; ++i)
{
points[i] = (wrapper.ReadFloat(),
wrapper.ReadFloat());
}
return(frameMode
? (ITopic) new FrameContainer2D(points)
: (ITopic) new Accumulator2D(points));
};
break;
case 3:
newTopic = () => frameMode
? (ITopic) new FrameContainer3D()
: (ITopic) new Accumulator3D();
newData = () => {
var count = rest / SizeOfV3;
var points = new V3[count];
for (var i = 0; i < points.Length; ++i)
{
points[i] = (wrapper.ReadFloat(),
wrapper.ReadFloat(),
wrapper.ReadFloat());
}
return(frameMode
? (ITopic) new FrameContainer3D(points)
: (ITopic) new Accumulator3D(points));
};
break;
case 4:
newTopic = () => frameMode
? (ITopic) new FrameContainer4D()
: (ITopic) new Accumulator4D();
newData = () => {
var count = rest / SizeOfV4;
var points = new V4[count];
for (var i = 0; i < points.Length; ++i)
{
points[i] = (wrapper.ReadFloat(),
wrapper.ReadFloat(),
wrapper.ReadFloat(),
wrapper.ReadFloat());
}
return(frameMode
? (ITopic) new FrameContainer4D(points)
: (ITopic) new Accumulator4D(points));
};
break;
default:
return(false);
}
// save data
var title = $"{sender}: {name}";
lock (_dictionary) {
if (_dictionary.TryGetValue(title, out var topic))
{
return(topic.Add(newData()));
}
_dictionary.Add(title, newTopic());
return(false);
}
}
public void Process(RemotePacket remotePacket)
{
var(sender, _, payload) = remotePacket;
var stream = new MemoryStream(payload);
var topic = stream.ReadEnd();
var type = (GraphType)stream.ReadByte();
Ports.GetOrAdd(new TopicConfig(sender, topic, type),
new Port(null))
?.Also(port => {
var rest = stream.Length - stream.Position;
var data = new NetworkDataReader(stream);
var frame = new List <Vector3>();
switch (type)
{
case GraphType.OneDimension:
switch (rest)
{
case sizeof(float):
frame.Add(new Vector3((float)((DateTime.Now - Origin).Ticks / 1E7),
data.ReadFloat(),
float.NaN));
break;
case sizeof(double):
frame.Add(new Vector3((float)((DateTime.Now - Origin).Ticks / 1E7),
(float)data.ReadDouble(),
float.NaN));
break;
}
break;
case GraphType.TwoDimension:
switch (rest)
{
case 2 * sizeof(float):
frame.Add(new Vector3(data.ReadFloat(),
data.ReadFloat(),
float.NaN));
break;
case 2 * sizeof(double):
frame.Add(new Vector3((float)data.ReadDouble(),
(float)data.ReadDouble(),
float.NaN));
break;
}
break;
case GraphType.Pose:
switch (rest)
{
case 3 * sizeof(float):
frame.Add(new Vector3(data.ReadFloat(),
data.ReadFloat(),
data.ReadFloat()));
break;
case 3 * sizeof(double):
frame.Add(new Vector3((float)data.ReadDouble(),
(float)data.ReadDouble(),
(float)data.ReadDouble()));
break;
}
break;
case GraphType.Frame:
var length = rest - 1;
switch ((FrameType)stream.ReadByte())
{
case FrameType.OneFloat:
length /= sizeof(float);
while (length-- > 0)
{
frame.Add(new Vector3((float)((DateTime.Now - Origin).Ticks / 1E7),
data.ReadFloat(),
float.NaN));
}
break;
case FrameType.OneDouble:
length /= sizeof(double);
while (length-- > 0)
{
frame.Add(new Vector3((float)((DateTime.Now - Origin).Ticks / 1E7),
(float)data.ReadDouble(),
float.NaN));
}
break;
case FrameType.TwoFloat:
length /= 2 * sizeof(float);
while (length-- > 0)
{
frame.Add(new Vector3(data.ReadFloat(),
data.ReadFloat(),
float.NaN));
}
break;
case FrameType.TwoDouble:
length /= 2 * sizeof(double);
while (length-- > 0)
{
frame.Add(new Vector3((float)data.ReadDouble(),
(float)data.ReadDouble(),
float.NaN));
}
break;
case FrameType.ThreeFloat:
length /= 3 * sizeof(float);
while (length-- > 0)
{
frame.Add(new Vector3(data.ReadFloat(),
data.ReadFloat(),
data.ReadFloat()));
}
break;
case FrameType.ThreeDouble:
length /= 3 * sizeof(double);
while (length-- > 0)
{
frame.Add(new Vector3((float)data.ReadDouble(),
(float)data.ReadDouble(),
(float)data.ReadDouble()));
}
break;
default:
throw new ArgumentOutOfRangeException();
}
break;
default:
throw new ArgumentOutOfRangeException();
}
if (type == GraphType.Frame || frame.Any())
{
port.Post(frame);
}
});
}
