private void SendPong(ReceiveData.Data recvData)
{
ReceiveData.Constants.SequenceCounter["PONG"] = (byte)((ReceiveData.Constants.SequenceCounter["PONG"] + 1) % 256);
byte[] sendData = new byte[recvData.ReceiveData.Length + 7];
sendData[0] = ReceiveData.Constants.DataTypesByName["DATA_NO_ACK"];
sendData[1] = ReceiveData.Constants.BufferIDs["PONG"];
sendData[2] = ReceiveData.Constants.SequenceCounter["PONG"];
var temp = BitConverter.GetBytes(recvData.ReceiveData.Length + 7);
Array.Copy(temp, 0, sendData, 3, temp.Length);
//Console.WriteLine($"SendPong() temp:{temp.Length} sendData:{sendData.Length}");
Array.Copy(recvData.ReceiveData, 0, sendData, 7, recvData.ReceiveData.Length);
//Console.WriteLine($"SendPong() RD:{recvData.ReceiveData.Length} PSIZE:{recvData.PacketSize}");
#if true
string s = "";
foreach (var b in sendData)
{
s += b.ToString("X2") + ",";
}
s += '\n';
Console.WriteLine($"SendPong() {s}");
#endif
var parrot = new IPEndPoint(IPAddress.Parse("192.168.42.1"), UdpSendPort);
//Console.WriteLine($"SendPong() SPORT:{UdpSendPort}");
using (var udpSend = new UdpClient())
{
//udpSend.Send(sendData, sendData.Length);
udpSend.Send(sendData, sendData.Length, parrot); // これでOK
//udpSend.Send(sendData, sendData.Length, "192.168.42.1", UdpSendPort);
}
}
/// <summary>
/// 受信したデータを取り扱う
/// </summary>
/// <param name="receive">受信データ</param>
private void HandleData(byte[] receive)
{
int index = 0;
for (;;)
{
var pack = new ReceiveData.Data();
// パケットの取り出し
pack.DataType = receive[index + 0];
pack.BufferID = receive[index + 1];
pack.PacketSequenceID = receive[index + 2];
pack.PacketSize = BitConverter.ToInt32(receive, (index + 3));
pack.ReceiveData = new byte[pack.PacketSize - 7];
Array.Copy(receive, (index + 7), pack.ReceiveData, 0, (pack.PacketSize - 7));
// 内容による対応
HandleFrame(pack);
// 複数パケットを受信していたら次のパケットを取り出す
if (receive.Length == (index + pack.PacketSize))
{
Console.WriteLine("1パケット\n");
break;
}
else
{
Console.WriteLine($"複数パケット Index:{index} pack:{pack.PacketSize}");
index += pack.PacketSize;
}
}
}
private void HandleFrame(ReceiveData.Data recvData)
{
if (recvData.BufferID == ReceiveData.Constants.BufferIDs["PING"])
{
SendPong(recvData);
}
}
