protected void OnCustomDataReceived(CustomFramePacket customDataPacket)
{
var subs = CustomDataReceived;
if (subs != null)
{
Task.Run(() => subs(this, customDataPacket.Data));
}
}
protected async override void ProcessReceivedData(ReadBuffer receiveBuffer)
{
var opCode = (OperationCode)receiveBuffer.ReadInt32();
// TODO: validate operation type when processing
//var operationType = (OperationStatus)_dataReader.ReadInt32();
// MAKE SURE TO read all data from receiveBuffer before awaiting async ooperation!
switch (opCode)
{
case OperationCode.OpenReader:
{
var openRequest = new OpenReader();
openRequest.ReadCommand(receiveBuffer);
// handle open request + start receiving & resending frames
switch (openRequest.Type)
{
case ReaderType.Body:
{
var bodyReader = await _sensor.OpenBodyFrameReaderAsync();
if (bodyReader != null)
{
bodyReader.FrameArrived -= BodyReader_FrameArrived;
bodyReader.FrameArrived += BodyReader_FrameArrived;
openRequest.SetResponse(OperationStatus.ResponseSuccess);
}
else
{
openRequest.SetResponse(OperationStatus.ResponseFail);
}
break;
}
case ReaderType.BodyIndex:
{
var bodyIndexReader = await _sensor.OpenBodyIndexFrameReaderAsync();
if (bodyIndexReader != null)
{
bodyIndexReader.FrameArrived -= BodyIndexReader_FrameArrived;
bodyIndexReader.FrameArrived += BodyIndexReader_FrameArrived;
openRequest.SetResponse(OperationStatus.ResponseSuccess);
}
else
{
openRequest.SetResponse(OperationStatus.ResponseFail);
}
break;
}
case ReaderType.Color:
{
var colorReader = await _sensor.OpenColorFrameReaderAsync(openRequest.Config);
if (colorReader != null)
{
colorReader.FrameArrived -= ColorReader_FrameArrived;
colorReader.FrameArrived += ColorReader_FrameArrived;
openRequest.SetResponse(OperationStatus.ResponseSuccess);
}
else
{
openRequest.SetResponse(OperationStatus.ResponseFail);
}
break;
}
case ReaderType.Depth:
{
var depthReader = await _sensor.OpenDepthFrameReaderAsync();
if (depthReader != null)
{
depthReader.FrameArrived -= DepthReader_FrameArrived;
depthReader.FrameArrived += DepthReader_FrameArrived;
openRequest.SetResponse(OperationStatus.ResponseSuccess);
}
else
{
openRequest.SetResponse(OperationStatus.ResponseFail);
}
break;
}
default:
{
openRequest.SetResponse(OperationStatus.ResponseFailNotAvailable);
break;
}
}
// send response should happen before subscription (possible race condition when frame gets send before reply to request gets transmitted)
SendRequestCommand(openRequest);
break;
}
case OperationCode.CloseReader:
{
var closeRequest = new CloseReader();
closeRequest.ReadCommand(receiveBuffer);
switch (closeRequest.Type)
{
case ReaderType.Body:
await _sensor.BodyReader?.CloseAsync();
break;
case ReaderType.BodyIndex:
await _sensor.BodyIndexReader?.CloseAsync();
break;
case ReaderType.Color:
await _sensor.ColorReader?.CloseAsync();
break;
case ReaderType.Depth:
await _sensor.DepthReader?.CloseAsync();
break;
default:
closeRequest.SetResponse(OperationStatus.ResponseFailNotAvailable);
SendRequestCommand(closeRequest);
return;
}
closeRequest.SetResponse(OperationStatus.ResponseSuccess);
SendRequestCommand(closeRequest);
break;
}
case OperationCode.CloseSensor:
{
// close all opened readers but keep kinect open / listen for connections
_connection.Dispose();
_connection = null;
await _sensor.BodyReader?.CloseAsync();
await _sensor.BodyIndexReader?.CloseAsync();
await _sensor.ColorReader?.CloseAsync();
await _sensor.DepthReader?.CloseAsync();
return;
}
case OperationCode.UserFrameTransfer:
{
FramePacket activeReceive;
if (_activeFrameReceives.TryGetValue(ReaderType.UserDefined, out activeReceive))
{
// todo: verify that operation status is not push init
}
else
{
activeReceive = new CustomFramePacket();
_activeFrameReceives[ReaderType.UserDefined] = activeReceive;
}
var finishedReading = activeReceive.ReadData(receiveBuffer);
if (finishedReading)
{
_activeFrameReceives.Remove(ReaderType.UserDefined);
OnCustomDataReceived((CustomFramePacket)activeReceive);
}
break;
}
}
}
public void SendCustomFrameData(byte[] data)
{
var frame = new CustomFramePacket(data);
SendFrameData(frame);
}
protected override void ProcessReceivedData(ReadBuffer receiveBuffer)
{
var opCode = (OperationCode)receiveBuffer.ReadInt32();
// TODO: validate operation type when processing
//var operationType = (OperationStatus)_dataReader.ReadInt32();
switch (opCode)
{
// process responses
case OperationCode.OpenReader:
{
// find first unprocessed request
var openResponse = new OpenReader();
openResponse.ReadCommand(receiveBuffer);
HandleCommandResponse(openResponse);
break;
}
case OperationCode.CloseReader:
{
var closeResponse = new CloseReader();
closeResponse.ReadCommand(receiveBuffer);
HandleCommandResponse(closeResponse);
break;
}
case OperationCode.BodyFrameTransfer:
{
FramePacket activeReceive;
if (_activeFrameReceives.TryGetValue(ReaderType.Body, out activeReceive))
{
// todo: verify that operation status is not push init
}
else
{
activeReceive = new BodyFramePacket();
_activeFrameReceives[ReaderType.Body] = activeReceive;
}
var finishedReading = activeReceive.ReadData(receiveBuffer);
if (finishedReading)
{
_activeFrameReceives.Remove(ReaderType.Body);
var subs = BodyFrameArrived;
if (subs != null)
{
Task.Run(() => subs(this, (BodyFramePacket)activeReceive));
}
}
break;
}
case OperationCode.DepthFrameTransfer:
{
FramePacket activeReceive;
if (_activeFrameReceives.TryGetValue(ReaderType.Depth, out activeReceive))
{
// todo: verify that operation status is not push init
}
else
{
activeReceive = new DepthFramePacket();
_activeFrameReceives[ReaderType.Depth] = activeReceive;
}
var finishedReading = activeReceive.ReadData(receiveBuffer);
if (finishedReading)
{
_activeFrameReceives.Remove(ReaderType.Depth);
var subs = DepthFrameArrived;
if (subs != null)
{
Task.Run(() => subs(this, (DepthFramePacket)activeReceive));
}
}
break;
}
case OperationCode.BodyIndexFrameTransfer:
{
FramePacket activeReceive;
if (_activeFrameReceives.TryGetValue(ReaderType.BodyIndex, out activeReceive))
{
// todo: verify that operation status is not push init
}
else
{
activeReceive = new BodyIndexFramePacket();
_activeFrameReceives[ReaderType.BodyIndex] = activeReceive;
}
var finishedReading = activeReceive.ReadData(receiveBuffer);
if (finishedReading)
{
_activeFrameReceives.Remove(ReaderType.BodyIndex);
var subs = BodyIndexFrameArrived;
if (subs != null)
{
Task.Run(() => subs(this, (BodyIndexFramePacket)activeReceive));
}
}
break;
}
case OperationCode.ColorFrameTransfer:
{
FramePacket activeReceive;
if (_activeFrameReceives.TryGetValue(ReaderType.Color, out activeReceive))
{
// todo: verify that operation status is not push init
}
else
{
activeReceive = new ColorFramePacket();
_activeFrameReceives[ReaderType.Color] = activeReceive;
}
var finishedReading = activeReceive.ReadData(receiveBuffer);
if (finishedReading)
{
_activeFrameReceives.Remove(ReaderType.Color);
var subs = ColorFrameArrived;
if (subs != null)
{
Task.Run(() => subs(this, (ColorFramePacket)activeReceive));
}
}
break;
}
case OperationCode.UserFrameTransfer:
{
FramePacket activeReceive;
if (_activeFrameReceives.TryGetValue(ReaderType.UserDefined, out activeReceive))
{
// todo: verify that operation status is not push init
}
else
{
activeReceive = new CustomFramePacket();
_activeFrameReceives[ReaderType.UserDefined] = activeReceive;
}
var finishedReading = activeReceive.ReadData(receiveBuffer);
if (finishedReading)
{
_activeFrameReceives.Remove(ReaderType.UserDefined);
OnCustomDataReceived((CustomFramePacket)activeReceive);
}
break;
}
}
}