/// <summary>
/// Start listening on specified port and adding data to the BlockingCollection
/// </summary>
/// <param name="threadInfos">Thread informations - connection params</param>
override protected void StartListening(object threadInfos)
{
UdpThreadInfos <Cloud> ti = (UdpThreadInfos <Cloud>)threadInfos;
Console.WriteLine("UdpCloudListener thread started");
_udp = new UdpClient(ti.Port);
IPEndPoint remoteEP = new IPEndPoint(IPAddress.Any, ti.Port);
Cloud aggregateCloud = null;
while (true)
{
byte[] data = null;
try
{
data = _udp.Receive(ref remoteEP);
}
catch (Exception ex)
{
}
var cloud = new Cloud
{
Timestamp = BitConverter.ToInt64(data, 0),
Points = new List <CloudPoint>()
};
int currentByte = 8;
while (currentByte < data.Length)
{
var point = new CloudPoint();
point.X = BitConverter.ToSingle(data, currentByte);
currentByte += 4;
point.Y = BitConverter.ToSingle(data, currentByte);
currentByte += 4;
point.Z = BitConverter.ToSingle(data, currentByte);
currentByte += 4;
point.R = data.ElementAt(currentByte);
currentByte++;
point.G = data.ElementAt(currentByte);
currentByte++;
point.B = data.ElementAt(currentByte);
currentByte++;
point.Tag = data.ElementAt(currentByte);
currentByte++;
// Filter points (0,0,0)
if (point.X != 0 && point.Y != 0 && point.Z != 0)
{
cloud.Points.Add(point);
}
}
// First frame
if (aggregateCloud == null)
{
aggregateCloud = cloud;
}
// If changing frame, send last complete received one
else if (aggregateCloud.Timestamp != cloud.Timestamp)
{
ti.DataTransferer.Add(aggregateCloud);
aggregateCloud = cloud;
}
// If same frame, aggregate
else
{
aggregateCloud.Points.AddRange(cloud.Points);
}
}
}
public UdpCloudListener(BlockingCollection <Cloud> dataTransferer, int port)
{
_udpThreadInfos = new UdpThreadInfos <Cloud>(dataTransferer, port);
}
