private void OnData(V2ExtensionPacket v2ExtensionPacket)
{
try
{
using (var ms = new MemoryStream(v2ExtensionPacket.Payload.Payload))
{
var header = PayloadHelper.ReadData <PayloadPacketHeader>(ms);
if (FilterDoublePackets(header) == false)
{
Interlocked.Increment(ref _doublePacketsCount);
return;
}
if (!_dataCallbacks.TryGetValue(header.Path, out var callback))
{
//_logger.Warn($"Receive unsupported data '{packetInfo.Path}'");
return;
}
callback(new DeviceIdentity {
ComponentId = v2ExtensionPacket.ComponenId, SystemId = v2ExtensionPacket.SystemId
}, ms);
}
}
catch (Exception e)
{
_logger.Warn($"Error execute data:{e.Message}");
}
}
public void Register <TIn, TOut>(string path, DataDelegate <TIn, TOut> callback) where TIn : new()
{
_dataCallbacks[path] = async(devId, strm) =>
{
TIn data;
try
{
data = PayloadHelper.ReadData <TIn>(strm);
}
catch (Exception e)
{
_logger.Warn(e, $"Error to deserialize input data '{path}'. Payload type {typeof(TIn).Name}");
await SendError(devId, path, ErrorType.ArgsError, e.Message, CancellationToken.None);
return;
}
try
{
var result = await callback(devId, data);
await SendResult(devId, path, result, CancellationToken.None);
}
catch (Exception e)
{
Status.Error($"Execute {path}:{e.Message}");
_logger.Warn(e, $"Error to execute '{path}':{e.Message}");
await SendError(devId, path, ErrorType.InternalError, e.Message, CancellationToken.None);
}
};
}
protected void Register <TIn, TOut>(string path, DataDelegate <TIn, TOut> callback) where TIn : new()
{
if (!path.StartsWith(_name, StringComparison.InvariantCultureIgnoreCase))
{
var absolutePath = PayloadHelper.PathJoin(_name, path);
_server.Register(absolutePath, callback);
}
}
public async Task SendResult <T>(DeviceIdentity devId, string path, T data, CancellationToken cancel)
{
using (var strm = new MemoryStream())
{
PayloadHelper.WriteData(strm, new PayloadPacketHeader
{
PacketId = GetPacketId(),
Path = path,
});
PayloadHelper.WriteData(strm, data);
strm.Position = 0;
await SendData(devId.SystemId, devId.ComponentId, PayloadHelper.DefaultNetworkId, PayloadHelper.DefaultSuccessMessageType, strm, cancel);
}
}
public async Task <TOut> Send <TIn, TOut>(string path, TIn data, CancellationToken cancel) where TOut : new()
{
using (var strm = new MemoryStream())
{
PayloadHelper.WriteData(strm, new PayloadPacketHeader
{
PacketId = GetPacketId(),
Path = path,
});
PayloadHelper.WriteData(strm, data);
var eve = new AsyncAutoResetEvent(false);
var result = default(Result <TOut>);
var dispose = Register <TOut>(path).FirstAsync(_ => true).Subscribe(_ =>
{
result = _;
eve.Set();
});
try
{
strm.Position = 0;
await SendData(PayloadHelper.DefaultNetworkId, PayloadHelper.DefaultSuccessMessageType, strm, cancel);
await eve.WaitAsync(cancel);
if (result.IsError)
{
throw new PayloadClientException(path, result.Error);
}
Debug.Assert(result.Value != null);
return(result.Value);
}
catch (Exception e)
{
_logger.Error(e, $"Error to get interface implementations:{e.Message}");
throw;
}
finally
{
dispose.Dispose();
}
}
}
public IObservable <Result <TOut> > Register <TOut>(string path) where TOut : new()
{
return(_onData.Where(_ => _.Header.Path == path).Select(_ =>
{
using (var strm = new MemoryStream(_.Data))
{
try
{
if (!path.Equals(_.Header.Path))
{
return default(Result <TOut>);
}
if (_.MessageType == PayloadHelper.DefaultErrorMessageType)
{
var err = PayloadHelper.ReadData <ErrorCode>(strm);
return new Result <TOut>
{
Error = err,
IsError = true,
};
}
if (_.MessageType == PayloadHelper.DefaultSuccessMessageType)
{
var data = PayloadHelper.ReadData <TOut>(strm);
return new Result <TOut>
{
IsError = false,
Value = data,
};
}
return default(Result <TOut>);
}
catch (Exception e)
{
_logger.Warn(e, $"Error to deserialize input data '{path}'. Payload type {typeof(TOut).Name}");
return default(Result <TOut>);
}
}
}).Where(_ => !object.Equals(_, default(TOut))));
}
private void OnData(V2ExtensionPacket v2ExtensionPacket)
{
try
{
Interlocked.Increment(ref _txPacketsCounter);
PayloadPacketHeader packetInfo = null;
using (var ms = new MemoryStream(v2ExtensionPacket.Payload.Payload))
{
packetInfo = PayloadHelper.ReadData <PayloadPacketHeader>(ms);
if (FilterDoublePackets(packetInfo) == false)
{
Interlocked.Increment(ref _doublePacketsCounter);
return;
}
var data = new byte[ms.Length - ms.Position];
ms.Read(data, 0, data.Length);
var pkt = new V2Packet
{
Device = new DeviceIdentity {
ComponentId = v2ExtensionPacket.ComponenId, SystemId = v2ExtensionPacket.SystemId
},
Header = packetInfo,
Data = data,
MessageType = v2ExtensionPacket.Payload.MessageType,
};
_onData.OnNext(pkt);
}
}
catch (Exception e)
{
_logger.Warn($"Error execute data:{e.Message}");
}
}
public async Task SendError(DeviceIdentity devId, string path, ErrorType errorType, string message, CancellationToken cancel)
{
try
{
message = message.TrimToMaxLength(PayloadHelper.MaxErrorMessageSize);
using (var strm = new MemoryStream())
{
PayloadHelper.WriteData(strm, new PayloadPacketHeader
{
PacketId = GetPacketId(),
Path = path,
});
PayloadHelper.WriteData(strm, new ErrorCode {
Msg = message, Res = errorType
});
strm.Position = 0;
await SendData(devId.SystemId, devId.ComponentId, PayloadHelper.DefaultNetworkId, PayloadHelper.DefaultErrorMessageType, strm, cancel);
}
}
catch (Exception e)
{
_logger.Error(e, $"Exception occured to send error. Type:{errorType:G}, Message:{message}");
}
}
protected Task <TOut> Send <TIn, TOut>(string path, TIn data, TimeSpan attemptTimeout, int attemptsCount, CancellationToken cancel, Action <int> progressCallback) where TOut : new()
{
return(_client.Send <TIn, TOut>(PayloadHelper.PathJoin(_name, path), data, attemptTimeout, attemptsCount, cancel, progressCallback));
}
protected IObservable <Result <TOut> > Register <TOut>(string path) where TOut : new()
{
var absolutePath = PayloadHelper.PathJoin(_name, path);
return(_client.Register <TOut>(absolutePath));
}
public MavlinkPayloadClientInterfaceBase(string name)
{
_name = name;
PayloadHelper.ValidateName(name);
}
protected Task SendError(DeviceIdentity devId, string path, ErrorType errorCode, string message, CancellationToken cancel)
{
return(_server.SendError(devId, PayloadHelper.PathJoin(_name, path), errorCode, message, cancel));
}
protected Task Send <T>(DeviceIdentity devId, string path, T data, CancellationToken cancel)
{
return(_server.SendResult(devId, PayloadHelper.PathJoin(_name, path), data, cancel));
}
protected PayloadServerInterfaceBase(string name)
{
_name = name;
PayloadHelper.ValidateName(name);
}
