private void OnLineReceived(string line)
{
string[] data = line.Split(' ');
//begin with "@": treat as event message
int eventId = 0;
if (data.Length > 0 &&
data[0].Length > 1 &&
data[0][0] == '@' &&
int.TryParse(data[0].Substring(1), out eventId)
)
{
var args = new string[data.Length - 1];
Array.Copy(data, 1, args, 0, args.Length);
var eventMessage = new UArmEventMessage(eventId, args);
ReceivedEvent?.Invoke(this, new UArmEventMessageEventArgs(eventMessage));
return;
}
//begin with "$": treas as response
int id = -1;
if (data.Length > 1 &&
data[0].Length > 1 &&
data[0][0] == '$' &&
int.TryParse(data[0].Substring(1), out id))
{
var args = new string[data.Length - 1];
Array.Copy(data, 1, args, 0, args.Length);
var response = new UArmResponse(id, args);
//Terminate waiting process if pending exists
if (_pendingCommandIds.ContainsKey(id))
{
_responses[id] = response;
_pendingCommandIds[id].Cancel();
}
ReceivedResponse?.Invoke(this, new UArmResponseEventArgs(response));
return;
}
//Unknown data
}
public override void OnReceivedBroadcast(string fromAddress, string data)
{
base.OnReceivedBroadcast(fromAddress, data);
received.Invoke(fromAddress, data);
}
// BeginRead callback
private void HandleReceive(IAsyncResult ar)
{
int numBytes = 0;
_buffer = null;
try
{
// end read returns number of bytes read
numBytes = _clientsock.EndReceive(ar);
if (numBytes > 0 && numBytes == _request_size)
{
int req_size = -1;
if (!int.TryParse(_req_buffer.Decode(numBytes), out req_size))
{
throw new Exception("Client request is corrupted");
}
if (req_size > 0)
{
_buffer = new SockBuffer(req_size);
int num_bytes_request = 0;
int time_out = 0; // 15 seconds
while (_clientsock.Available < req_size)
{
if (time_out >= 15000)
{
throw new Exception("The timeout period elapsed while waiting for the client to finish sending data - the client has either disconnected or failed to send a complete message");
}
;
Thread.Sleep(50);
time_out += 50;
}
num_bytes_request += _clientsock.Receive(_buffer.BufferByte, 0, _buffer.Size, SocketFlags.None);
}
}
else if (numBytes > 0 && numBytes < _request_size)
{
// drop this received data, it is probably garbage
}
else
{
throw new Exception("Server did not receive any data from client");
}
}
catch (Exception ex)
{
_ex = ex;
}
if (_ex != null)
{
Console.WriteLine("Error encountered during reading client data: " + _ex.Message);
DisconnectedEvent?.Invoke(this, new IPCConnectedEventArgs(_clientsock, _address, _logPath));
// raise disconnected event
_connected = false;
}
else if (_buffer != null)
{
ReceivedEvent?.Invoke(this, new IPCReceivedEventArgs(_clientsock, _buffer.Decode(_buffer.Size)));
// raise received event
}
signal_read.Set();
//return ar;
}
