private void OnReplyRecieved(BrickReply reply)
{
if (brickType == BrickType.NXT)
{
if (!((MonoBrick.NXT.Reply)reply).HasError)
{
Gtk.Application.Invoke(delegate {
replyStatusbar.Pop(1);
replyStatusbar.Push(1, "Received " + reply.Length + " bytes");
});
}
}
}
public BrickReply OnTunnelCommand(BrickCommand command)
{
BrickReply reply = null;
BrickCommand replyCommand = null;
if (command is MonoBrick.NXT.Command)
{
var nxtCommand = new MonoBrick.NXT.Command(command.Data);
switch (nxtCommand.CommandByte)
{
case MonoBrick.NXT.CommandByte.GetTunnelCommands:
replyCommand = new MonoBrick.NXT.Command(MonoBrick.NXT.CommandType.ReplyCommand, nxtCommand.CommandByte, true);
replyCommand.Append((byte)0x00); //no error
if (streamingSettings.EnableRTSP)
{
replyCommand.Append((byte)MonoBrick.NXT.CommandByte.GetTunnelRTSPSettings);
replyCommand.Append((byte)MonoBrick.NXT.CommandByte.StartTunnelRTSP);
}
if (streamingSettings.EnableGPS)
{
replyCommand.Append((byte)MonoBrick.NXT.CommandByte.GetTunnelGPSPosition);
}
if (streamingSettings.EnableSpeak)
{
replyCommand.Append((byte)MonoBrick.NXT.CommandByte.TunnelSpeak);
}
reply = new MonoBrick.NXT.Reply(replyCommand.Data);
break;
case MonoBrick.NXT.CommandByte.GetTunnelRTSPSettings:
if (streamingSettings.EnableRTSP)
{
replyCommand = new MonoBrick.NXT.Command(MonoBrick.NXT.CommandType.ReplyCommand, nxtCommand.CommandByte, true);
replyCommand.Append((byte)0x00); //no error
replyCommand.Append((Int32)streamingSettings.RTSPPort);
replyCommand.Append((Int32)streamingSettings.VideoPort);
reply = new MonoBrick.NXT.Reply(replyCommand.Data);
}
else
{
reply = new MonoBrick.NXT.Reply(MonoBrick.NXT.CommandType.ReplyCommand, nxtCommand.CommandByte, (byte)TunnelError.ErrorExecuting);
}
break;
case MonoBrick.NXT.CommandByte.StartTunnelRTSP:
if (rtspServer.Start(clientIpAddress.ToString(), streamingSettings.RTSPPort, streamingSettings.VideoPort, streamingSettings.VideoQuality))
{
reply = new MonoBrick.NXT.Reply(MonoBrick.NXT.CommandType.ReplyCommand, nxtCommand.CommandByte);
}
else
{
reply = new MonoBrick.NXT.Reply(MonoBrick.NXT.CommandType.ReplyCommand, nxtCommand.CommandByte, (byte)TunnelError.ErrorExecuting);
}
break;
default:
reply = new MonoBrick.NXT.Reply(MonoBrick.NXT.CommandType.ReplyCommand, nxtCommand.CommandByte, (byte)TunnelError.UnsupportedCommand);
break;
}
}
else
{
throw new NotImplementedException("EV3 support has been implemented");
}
return(reply);
}
