private void TryDecodePacket(int size)
{
var messageId = PacketV2Helper.GetMessageId(_buffer, 0);
var packet = CreatePacket(messageId);
if (packet == null)
{
_decodeErrorSubject.OnNext(new MessageIdNotFoundException(messageId));
return;
}
try
{
var span = new ReadOnlySpan <byte>(_buffer, 0, size);
packet.Deserialize(ref span);
}
catch (Exception exception)
{
_decodeErrorSubject.OnNext(new DeserializePackageException(messageId, string.Format(RS.DecoderV2_TryDecodePacket_Error_for_deserialize_mavlink_V2, messageId, exception.Message), exception));
return;
}
try
{
_packetSubject.OnNext(packet);
}
catch (Exception e)
{
_logger.Error($"Fatal error to publish packet:{e.Message}");
Debug.Assert(false, e.Message);
}
}
private DecodeStep FillBufferStep(byte value)
{
_buffer[_bufferIndex] = value;
++_bufferIndex;
if (_bufferIndex < _bufferStopIndex)
{
return(DecodeStep.FillBuffer);
}
// buffer with frames,payload and checksumm filled => check if signature present
// https://mavlink.io/en/guide/message_signing.html
if (PacketV2Helper.CheckSignaturePresent(_buffer, 0))
{
return(DecodeStep.FillSignature);
}
// packet without sync
TryDecodePacket(_bufferIndex);
return(DecodeStep.Sync);
}
private void TryDecodePacket()
{
var messageId = PacketV2Helper.GetMessageId(_buffer, 0);
var packet = CreatePacket(messageId);
if (packet == null)
{
_decodeErrorSubject.OnNext(new MessageIdNotFoundException(messageId));
return;
}
try
{
packet.Deserialize(_buffer, 0);
}
catch (Exception exception)
{
_decodeErrorSubject.OnNext(new DeserizliaePackageException(messageId, string.Format(RS.DecoderV2_TryDecodePacket_Error_for_deserialize_mavlink_V2, messageId, exception.Message), exception));
}
_packetSubject.OnNext(packet);
}
