/*! Add packet size at the front of the packet
*/
public static byte[] WrapPacket(ApolloPacketBinary packet)
{
byte[] data = packet.array;
byte[] output = new byte[data.Length + 4];
data.CopyTo(output, 4);
BitConverter.GetBytes(data.Length).CopyTo(output, 0);
return(output);
}
/*
* public coor_axis_t LeftFingerUp;
* public coor_axis_t LeftFingerForward;
* public coor_axis_t LeftRightDirection;*/
// Sends a packet to the TCP server
private static void sendPacket(ApolloPacketBinary packet, bool destroyPacket = true)
{
_apolloTCP.Send(ApolloSDK.WrapPacket(packet));
// Dispose of the packet (pointer) if requested
if (destroyPacket)
{
ApolloSDK.apolloDisposePacket(packet);
}
}
// Called when a handshake packet is return from Apollo
public static void handshakeHandler(IntPtr cbr, UInt64 session, IntPtr pckToReturn)
{
log("Received Handshake packet, Start ACK");
ApolloPacketBinary ackPacket = (ApolloPacketBinary)Marshal.PtrToStructure(pckToReturn, typeof(ApolloPacketBinary));
// DON'T destroy the packet, because it is owned by the SDK
sendPacket(ackPacket, false);
// if the state is not already handshaken or higher, set it up
if (apolloState < ApolloState.APOLLO_2_GLOVE_SETUP)
{
// force retry of handshake
//apolloState = ApolloState.APOLLO_1_HANDSHAKING;
apolloState = ApolloState.APOLLO_2_GLOVE_SETUP;
}
}
public static extern void apolloProcessPacket(UInt64 session, ApolloPacketBinary packetBinary);
public static extern void apolloDisposePacket(ApolloPacketBinary donePacket);