/// <summary>
/// Receive decoded data from the PD0 codec. This will be
/// the latest data decoded. It will include the complete
/// binary array of the data and the ensemble object.
/// </summary>
/// <param name="binaryEnsemble">Binary data of the ensemble.</param>
/// <param name="ensemble">Ensemble object.</param>
void _pd0Codec_ProcessDataEvent(byte[] binaryEnsemble, PD0 ensemble)
{
// Convert to a RTI ensemble
DataSet.Ensemble rtiEns = new DataSet.Ensemble(ensemble);
DataSet.VelocityVectorHelper.CreateVelocityVector(ref rtiEns);
// Generate a subsystem so that multiple configurations can be seprated
// PD0 does not contain the CEPO index or CEPO Configuraiton Index
if (rtiEns.IsEnsembleAvail)
{
rtiEns.EnsembleData.SubsystemConfig = _pd0SubsystemGen.GenSubsystem(rtiEns);
}
if (ProcessDataEvent != null)
{
// Pass the data to the subscribers
ProcessDataEvent(binaryEnsemble, rtiEns, CodecEnum.PD0);
}
_pd0Counter++;
// Check which buffers to clear
//CheckCodecBuffers(CodecEnum.PD0);
}
/// <summary>
/// Find the entire ensemble in the file. This will look for the start location.
/// Decode the payload size and checksum. If they are good, then generate an
/// ensemble from the data. Add the data to the list and return it.
/// </summary>
/// <param name="ensStart">List of all the ensembles.</param>
/// <param name="file">File to look for the ensembles.</param>
/// <returns>List of all the ensembles in the file.</returns>
protected List <DataSet.EnsemblePackage> FindCompleteEnsembles(List <int> ensStart, string file)
{
var list = new List <DataSet.EnsemblePackage>();
using (var fileStream = new FileStream(file, FileMode.Open, FileAccess.Read))
{
foreach (var start in ensStart)
{
try
{
var buffer = new byte[DataSet.Ensemble.ENSEMBLE_HEADER_LEN]; //Buffer is byte array of size 32. In Binary codec, buffer is byte array of size 32, containing 32 bytes from file
// Move the start location and read in the header
fileStream.Seek(start, SeekOrigin.Begin);
if (fileStream.Read(buffer, 0, buffer.Length) >= DataSet.Ensemble.ENSEMBLE_HEADER_LEN) // Always true, buffer always size of variable, this loads in bytes to Buffer, however
{
// Get the payload size
int payloadSize = MathHelper.LsbMsbInt(buffer[2], buffer[3]) + PD0.CHECKSUM_NUM_BYTE; //When referencing positions in buffer, uses "start" Which implies it is looking for the position in the actual file. (Error?)
// Get the ensemble size
int ensSize = MathHelper.LsbMsbInt(buffer[2], buffer[3]) + PD0.CHECKSUM_NUM_BYTE; // Same equation as payload size, but the LsbMsbInt Might change buffer itself?
// Sanity check
if (ensSize > DataSet.Ensemble.ENSEMBLE_HEADER_LEN)
{
// Get the entire ensemble
var rawEns = new byte[ensSize];
fileStream.Seek(start, SeekOrigin.Begin);
fileStream.Read(rawEns, 0, rawEns.Length);
// Check the checksum
ushort calculatedChecksum = PD0.CalculateChecksum(rawEns, ensSize - PD0.CHECKSUM_NUM_BYTE);
ushort ensembleChecksum = MathHelper.LsbMsbUShort(rawEns[rawEns.Length - 2], rawEns[rawEns.Length - 1]);
if (calculatedChecksum == ensembleChecksum)
{
// Pass event that a good ensemble was found
if (GoodEnsembleEvent != null)
{
GoodEnsembleEvent();
}
//Pd0Codec _pd0Codec = new Pd0Codec();
//PD0 pd0 = _pd0Codec.DecodePd0Data(rawEns);
PD0 pd0Ensemble = new PD0(rawEns);
DataSet.Ensemble ens = new DataSet.Ensemble(pd0Ensemble);
ens.FileName = file;
// Generate a subsystem so that multiple configurations can be seprated
// PD0 does not contain the CEPO index or CEPO Configuraiton Index
if (ens.IsEnsembleAvail)
{
ens.EnsembleData.SubsystemConfig = _pd0SubsystemGen.GenSubsystem(ens);
}
// Package the data
var ensPak = new DataSet.EnsemblePackage();
ensPak.Ensemble = ens;
ensPak.RawEnsemble = rawEns;
ensPak.OrigDataFormat = AdcpCodec.CodecEnum.PD0;
list.Add(ensPak);
}
else
{
// Pass event that a good ensemble was found
if (BadEnsembleEvent != null)
{
BadEnsembleEvent();
}
}
}
}
}
catch (Exception e)
{
log.Error("Error looking for an ensemble. Loc: " + start, e);
}
}
}
return(list);
}