private void ColorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
var colorPacket = new ColorFramePacket(e.Bitmap, e.CameraIntrinsics, _sensor.GetCoordinateMapper().ColorToDepth);
SendFrameData(colorPacket);
}
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;
}
}
}