private void HandleMessage(int bytesReceived)
{
MemoryStream stream = new MemoryStream(this.buf, 0, bytesReceived, false, true);
ChannelSerializerInfo serializerType = ReadHeader(stream);
object o = null;
switch (serializerType)
{
case ChannelSerializerInfo.BinarySerializer:
if (this.formatter == null)
{
this.formatter = new BinaryFormatter(); //lazy cum load.
}
o = this.formatter.Deserialize(stream);
break;
case ChannelSerializerInfo.TestSerializer:
o = TestSerializer.Deserialize(stream);
break;
case ChannelSerializerInfo.SceneEstimatorSerializer:
o = SceneEstimatorSerializer.Deserialize(stream, name);
if (o == null)
{
return;
}
break;
case ChannelSerializerInfo.PoseAbsoluteSerializer:
case ChannelSerializerInfo.PoseRelativeSerializer:
o = PoseSerializer.Deserialize(stream, serializerType, name);
if (o == null)
{
return;
}
break;
case ChannelSerializerInfo.SideObstacleSerializer:
o = SideObstaclesSerializer.Deserialize(stream, name);
if (o == null)
{
return;
}
break;
case ChannelSerializerInfo.SideRoadEdgeSerializer:
o = SideRoadEdgeSerializer.Deserialize(stream, name);
if (o == null)
{
return;
}
break;
case ChannelSerializerInfo.RoadBearing:
o = RoadBearingSerializer.Deserialize(stream);
if (o == null)
{
return;
}
break;
case ChannelSerializerInfo.ExplicitlyUnsupported:
//drop this message
return;
default:
throw new NotImplementedException("Attempt to use unsupported deserializer for Receive: " + serializerType.ToString());
}
lock (this.listeners)
{
foreach (KeyValuePair <uint, IChannelListener> kvp in this.listeners)
{
IChannelListener listener = kvp.Value;
try
{
if (listener is IAdvancedChannelListener)
{
if (listener != null)
{
(listener as IAdvancedChannelListener).MessageArrived(this.name, o, this.seqNumberRX);
}
}
if (listener != null)
{
listener.MessageArrived(this.name, o);
}
}
catch (Exception ex)
{
Console.WriteLine("Listener Exception: " + ex.Message);
Console.WriteLine("Stack Trace:");
Console.WriteLine(ex.StackTrace);
}
}
}
packetRXCount++;
}
