private void Command_OnPrepare(Command c)
{
c.OnPrepare -= Command_OnPrepare;
commandsPrepared++;
if (commandsPrepared == commands.Count)
{
Debug.Log("Drone has prepared (" + commandsPrepared + ")");
OnPrepare?.Invoke(this);
}
}
public void Prepare(Drone d)
{
if (isInitialised)
{
return;
}
SetDrone(d);
Initialise();
isInitialised = true;
OnPrepare?.Invoke(this);
}
public void Prepare()
{
_prepareTimer.Current = _prepareTime;
_prepareTimer.IsStop = false;
OnPrepare?.Invoke();
}
private void Read()
{
byte[] packetSize = new byte[4];
try
{
while (_stream.Read(packetSize, 0, 4) != 0)
{
#region Deserialize Message Size
int messageSize = BitConverter.ToInt32(packetSize);
byte[] messageData = new byte[messageSize];
#endregion
#region Read Message
int bytesRead = 0;
do
{
bytesRead += _stream.Read(messageData, bytesRead, messageSize - bytesRead);
} while (bytesRead < messageSize);
#endregion
#region Deserialize Message
DataMessage message;
using (MemoryStream memoryStream = new MemoryStream(messageData))
{
if (memoryStream.CanRead)
{
message = (DataMessage) new BinaryFormatter().Deserialize(memoryStream);
}
else
{
return;
}
}
#endregion
#region Distribute Messages
lock (_lock)
{
//Check reserved routes firsts
switch (message.Route)
{
case "connect":
//assign client id
ClientId = message.ClientId;
_allowEmit = true;
OnConnect?.Invoke(message.ClientId);
break;
case "authentication":
Emit("authentication", OnAuthentication?.Invoke(message));
break;
case "prepare":
OnPrepare?.Invoke(message);
break;
case "ready":
_acceptData = true;
OnReady?.Invoke();
break;
case "disconnect":
Disconnect("Server Requested Disconnect");
break;
case "HeartBeat":
_heartBeatLength = _timer.ElapsedMilliseconds - _previousHeartBeat;
_previousHeartBeat = _timer.ElapsedMilliseconds;
break;
default:
{
#region Distribute Messages to Routes
if (!_acceptData)
{
continue;
}
if (!_handlers.ContainsKey(message.Route))
{
continue;
}
foreach (Action <DataMessage> handler in _handlers[message.Route])
{
handler(message);
}
break;
#endregion
}
}
}
#endregion
}
}
catch (IOException)
{
Disconnect("Read Error");
}
catch (ObjectDisposedException) { /*If this happens we do not care*/ }
catch (Exception ex)
{
Console.WriteLine("Write Exception: {0}", ex);
}
}