private Task ListenAsync()
{
var task = new Task(async() =>
{
UdpClient listener = new UdpClient(DATA_PORT);
while (true)
{
UdpReceiveResult result = await listener.ReceiveAsync();
int sensorId = BitConverter.ToInt32(result.Buffer, 0);
var accel = new Vector3D();
var gyro = new Vector3D();
var quat = new Quaternion();
int i = 1;
quat.W = BitConverter.ToInt32(result.Buffer, i++ *sizeof(int));
quat.X = BitConverter.ToInt32(result.Buffer, i++ *sizeof(int));
quat.Y = BitConverter.ToInt32(result.Buffer, i++ *sizeof(int));
quat.Z = BitConverter.ToInt32(result.Buffer, i++ *sizeof(int));
accel.X = BitConverter.ToInt16(result.Buffer, i++ *sizeof(int));
accel.Y = BitConverter.ToInt16(result.Buffer, i++ *sizeof(int));
accel.Z = BitConverter.ToInt16(result.Buffer, i++ *sizeof(int));
gyro.X = BitConverter.ToInt16(result.Buffer, i++ *sizeof(int));
gyro.Y = BitConverter.ToInt16(result.Buffer, i++ *sizeof(int));
gyro.Z = BitConverter.ToInt16(result.Buffer, i++ *sizeof(int));
uint timestamp = BitConverter.ToUInt32(result.Buffer, i++ *sizeof(int));
accel = accel / 8192;
gyro = gyro / 16.4;
quat.Normalize();
var value = new SensorValue(quat, accel, gyro, DateTime.Now, timestamp);
var sourceAddr = result.RemoteEndPoint.Address;
// TODO: check performance. this creates a closure on every iteration.
var sensor = Sensors.GetOrAdd(sensorId, (id) =>
{
var newSensor = new Sensor(sourceAddr, id);
// raises the sensor added event on the main thread
startedDispatcher.BeginInvoke(SensorAdded, newSensor);
return(newSensor);
});
sensor.PushValue(value);
}
}, TaskCreationOptions.LongRunning);
task.Start();
return(task);
}
public void PushValue(SensorValue value)
{
data.Push(value);
}