private void OnLineReceived(string line)
{
string[] data = line.Split(' ');
//begin with "@": treat as event message
int eventId = 0;
if (data.Length > 0 &&
data[0].Length > 1 &&
data[0][0] == '@' &&
int.TryParse(data[0].Substring(1), out eventId)
)
{
var args = new string[data.Length - 1];
Array.Copy(data, 1, args, 0, args.Length);
var eventMessage = new UArmEventMessage(eventId, args);
ReceivedEvent?.Invoke(this, new UArmEventMessageEventArgs(eventMessage));
return;
}
//begin with "$": treas as response
int id = -1;
if (data.Length > 1 &&
data[0].Length > 1 &&
data[0][0] == '$' &&
int.TryParse(data[0].Substring(1), out id))
{
var args = new string[data.Length - 1];
Array.Copy(data, 1, args, 0, args.Length);
var response = new UArmResponse(id, args);
//Terminate waiting process if pending exists
if (_pendingCommandIds.ContainsKey(id))
{
_responses[id] = response;
_pendingCommandIds[id].Cancel();
}
ReceivedResponse?.Invoke(this, new UArmResponseEventArgs(response));
return;
}
//Unknown data
}
public static UArmErrorResponseException CreateExceptionFromResponse(UArmResponse res)
{
return(new UArmErrorResponseException($"ID:{res.Id}, Args=" + string.Join(", ", res.Args)));
}
public UArmResponseEventArgs(UArmResponse response)
{
Response = response;
}
