internal void DispatchAsyncResponse(AsyncResponsePacket response)
{
switch (response.ResponseCode)
{
case AsynchronousId.POWER_NOTIFICATION:
if (_core != null)
{
_core.RaisePowerNotification(_core, (PowerState)response.Data[0]);
}
break;
case AsynchronousId.SENSOR_DATA_STREAMING:
if (_sphero != null)
{
SensorData sensorData = new SensorData(_sphero.Mask, _sphero.Mask2, response.Data);
_sphero.RaiseSensorDataNotification(sensorData);
}
break;
case AsynchronousId.SSB_DATA:
string data = Encoding.UTF8.GetString(response.Data, 0, response.Data.Length);
Debug.WriteLine("Async SSB message : {0}", BitConverter.ToString(response.ToArray()));
break;
case AsynchronousId.XP_UPDATE:
if (_sphero != null)
{
_sphero.RaiseXpNotification(response.Data[0]);
}
break;
case AsynchronousId.BOOST_UPDATE:
if (_sphero != null)
{
_sphero.RaiseBoostNotification(response.Data[0]);
}
break;
case AsynchronousId.COLLISION_DETECTED:
if (_sphero != null)
{
_sphero.RaiseCollisionDetected(new Collisions.CollisionData(response.Data));
}
break;
default:
if (Verbose)
{
Debug.WriteLine("Async message : {0}", BitConverter.ToString(response.ToArray()));
}
break;
}
}
internal ResponsePacket ParseResponse(byte[] data)
{
ResponsePacket response = null;
_data.AddRange(data);
if (_data.Count >= 6)
{
if (_data[0] != 255 || _data[1] != 255)
{
// Bad message case
if (_data[0] != 255 || _data[1] != 254)
{
// No Sphero Message
// Clean data until the next message
int nextMessageIndex = _data.IndexOf(255);
if (nextMessageIndex >= 0)
{
_data.RemoveRange(0, nextMessageIndex);
}
else
{
_data.Clear();
}
}
// Asynchronous message case
byte lengthMSB = _data[3], lengthLSB = _data[4];
int length = BitConverter.ToUInt16(new byte[] { lengthLSB, lengthMSB }, 0) + 5;
if (_data.Count >= length)
{
byte[] responseArray = new byte[length];
_data.CopyTo(0, responseArray, 0, length);
_data.RemoveRange(0, length);
AsyncResponsePacket packet = new AsyncResponsePacket(responseArray);
DispatchAsyncResponse(packet);
}
}
else
{
// Acknowledgement
int length = 5 + _data[4];
if (_data.Count >= length)
{
byte[] responseArray = new byte[length];
_data.CopyTo(0, responseArray, 0, length);
_data.RemoveRange(0, length);
response = new ResponsePacket(responseArray);
}
}
}
return(response);
}
internal ResponsePacket ParseResponse(byte[] data)
{
ResponsePacket response = null;
_data.AddRange(data);
if (_data.Count >= 6)
{
if (_data[0] != 255 || _data[1] != 255)
{
// Bad message case
if (_data[0] != 255 || _data[1] != 254)
{
// No Sphero Message
// Clean data until the next message
int nextMessageIndex = _data.IndexOf(255);
if (nextMessageIndex >= 0)
_data.RemoveRange(0, nextMessageIndex);
else
_data.Clear();
}
// Asynchronous message case
byte lengthMSB = _data[3], lengthLSB = _data[4];
int length = BitConverter.ToUInt16(new byte[] { lengthLSB, lengthMSB }, 0) + 5;
if (_data.Count >= length)
{
byte[] responseArray = new byte[length];
_data.CopyTo(0, responseArray, 0, length);
_data.RemoveRange(0, length);
AsyncResponsePacket packet = new AsyncResponsePacket(responseArray);
DispatchAsyncResponse(packet);
}
}
else
{
// Acknowledgement
int length = 5 + _data[4];
if (_data.Count >= length)
{
byte[] responseArray = new byte[length];
_data.CopyTo(0, responseArray, 0, length);
_data.RemoveRange(0, length);
response = new ResponsePacket(responseArray);
}
}
}
return response;
}
internal void DispatchAsyncResponse(AsyncResponsePacket response)
{
switch(response.ResponseCode)
{
case AsynchronousId.POWER_NOTIFICATION:
if(_core != null)
{
_core.RaisePowerNotification(_core, (PowerState)response.Data[0]);
}
break;
case AsynchronousId.SENSOR_DATA_STREAMING:
if (_sphero != null)
{
SensorData sensorData = new SensorData(_sphero.Mask, _sphero.Mask2, response.Data);
_sphero.RaiseSensorDataNotification(sensorData);
}
break;
case AsynchronousId.SSB_DATA:
string data = Encoding.UTF8.GetString(response.Data, 0, response.Data.Length);
Debug.WriteLine("Async SSB message : {0}", BitConverter.ToString(response.ToArray()));
break;
case AsynchronousId.XP_UPDATE:
if (_sphero != null)
{
_sphero.RaiseXpNotification(response.Data[0]);
}
break;
case AsynchronousId.BOOST_UPDATE:
if (_sphero != null)
{
_sphero.RaiseBoostNotification(response.Data[0]);
}
break;
case AsynchronousId.COLLISION_DETECTED:
if (_sphero != null)
{
_sphero.RaiseCollisionDetected(new Collisions.CollisionData(response.Data));
}
break;
default:
if (Verbose)
Debug.WriteLine("Async message : {0}", BitConverter.ToString(response.ToArray()));
break;
}
}
