public static SimEnt ReadNext(BinaryReader reader)
{
SimEnt result = null;
// read common values for all entities
byte shapeID = reader.ReadByte();
UInt16 entityID = (UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16());
bool movable = (reader.ReadByte() == 1);
UInt32 weight = (UInt32)IPAddress.NetworkToHostOrder(reader.ReadInt32());
switch (shapeID)
{
case SimEnt.CIRCLE_ID:
result = ReadCircle(reader, entityID, movable, weight);
break;
case SimEnt.RECTANGLE_ID:
result = ReadRectangle(reader, entityID, movable, weight);
break;
case SimEnt.KHEPERA_ROBOT_ID:
result = ReadKheperaRobot(reader, entityID, movable, weight);
break;
case SimEnt.LINE_ID:
result = ReadLinearEnt(reader, entityID);
break;
default:
System.Windows.MessageBox.Show("Unknown shape ID");
break;
}
return(result);
}
public SimulationWorld ReciveWorldDesc()
{
SimulationWorld result = new SimulationWorld();
BinaryReader reader = new BinaryReader(_tcpClient.GetStream());
result.WorldWidth = (UInt32)IPAddress.NetworkToHostOrder(reader.ReadInt32());
result.WorldHeight = (UInt32)IPAddress.NetworkToHostOrder(reader.ReadInt32());
result.Time = reader.ReadDouble();
bool hasBounds = reader.ReadBoolean(); // information not used in visualisation
int numberOfEntites = (UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16());
for (int i = 0; i < numberOfEntites; i++)
{
SimEnt entity = EntityReceiver.ReadNext(reader);
entity.VertFunc = x => result.WorldHeight - x;
result.Entities.Add(entity.ID, entity);
}
byte numberOfControllers = reader.ReadByte();
for (int i = 0; i < numberOfControllers; i++)
{
UInt16 robotId = (UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16());
String port = ((UInt16)IPAddress.NetworkToHostOrder(reader.ReadInt16())).ToString();
String ip = reader.ReadByte().ToString() + '.';
ip += reader.ReadByte().ToString() + '.';
ip += reader.ReadByte().ToString() + '.';
ip += reader.ReadByte().ToString();
SimEnt entity = null;
if (result.Entities.TryGetValue(robotId, out entity))
{
entity.ControllerAddr = String.Concat(ip, ':', port);
}
}
return(result);
}