public bool TranslatePacket(BasePacketHeader packet)
{
bool toReturn = false;
if (packet != null)
{
switch (packet.messageHeader.MessageType)
{
case MessageHeaderMessage.Types.MessageType.RigidBodyUpdate:
FrameSnapshot snapshot = FindOrCreateSnapshotForFrame(packet.messageHeader.FrameId);
ProcessRigidBodyFrameUpdate(packet, snapshot);
toReturn = true;
break;
case MessageHeaderMessage.Types.MessageType.ShapeCreated:
ProcessShapeAdded(packet);
toReturn = true;
break;
case MessageHeaderMessage.Types.MessageType.FrameStats:
ProcessFrameStats(packet);
toReturn = true;
break;
default:
break;
}
}
return(toReturn);
}
public BasePacketHeader ReceiveData()
{
BasePacketHeader basePacket = null;
if (clientSocket != null && clientSocket.Connected && clientSocket.Available > 0)
{
basePacket = new BasePacketHeader();
int numberOfReadBytes = clientSocket.Receive(basePacket.PacketBytes);
if (numberOfReadBytes > 0)
{
Console.WriteLine($"bytes, {basePacket.PacketBytes[0]}, {basePacket.PacketBytes[1]}, {basePacket.PacketBytes[2]}, {basePacket.PacketBytes[3]}, {basePacket.PacketBytes[4]}, {basePacket.PacketBytes[5]}, {basePacket.PacketBytes[6]}, {basePacket.PacketBytes[7]}");
int byteIndex = 0;
int headerSize = BitConverter.ToInt32(basePacket.PacketBytes, byteIndex); byteIndex += 4;
basePacket.messageHeader = MessageHeaderMessage.Parser.ParseFrom(basePacket.PacketBytes, byteIndex, headerSize);
basePacket.startOfPacketData = headerSize + 4;
}
}
return(basePacket);
}
private void ProcessRigidBodyFrameUpdate(BasePacketHeader packet, FrameSnapshot snapshot)
{
RigidBodyListPacket rigidBodyList = RigidBodyListPacket.Parser.ParseFrom(packet.PacketBytes, packet.startOfPacketData, packet.messageHeader.DataSize);
foreach (RigidBodyPacket packetBody in rigidBodyList.RigidBodies)
{
// todo: error handle - what if the rigid body already exists?
snapshot.AddRigidBody(packetBody);
}
}
private void ProcessFrameStats(BasePacketHeader packet)
{
FrameStatsMessage frameStatsMessage = FrameStatsMessage.Parser.ParseFrom(packet.PacketBytes, packet.startOfPacketData, packet.messageHeader.DataSize);
FrameStats frameStats = new FrameStats();
frameStats.ImportFromPacket(frameStatsMessage);
ConstructedFrameStats.Add(packet.messageHeader.FrameId, frameStats);
}
private static void recv(object inputPayload)
{
TelemetryReceiver payload = (TelemetryReceiver)inputPayload;
// while we're connected and no request has been made to stop processing
while (payload.DataStream.Connected && !payload.StopThreadSwitch)
{
Telemetry.Network.BasePacketHeader basePacket = payload.DataStream.ReceiveData();
if (basePacket != null)
{
if (payload.Translator.TranslatePacket(basePacket))
{
// todo: error - don't pull out packets that aren't complete
foreach (Tuple <bool, FrameSnapshot> snapshot in payload.Translator.ConstructedSnaphots.Values)
{
lock (payload.LockObject)
{
payload.ReceivedFrameSnapshots.Enqueue(snapshot.Item2);
}
}
foreach (FrameStats stats in payload.Translator.ConstructedFrameStats.Values)
{
lock (payload.LockObject)
{
payload.ReceivedFrameStats.Enqueue(stats);
}
}
foreach (PacketTranslator.CollectedFrameShapes frameShapeList in payload.Translator.AddedShapes.Values)
{
lock (payload.LockObject)
{
payload.ReceivedShapes.Enqueue(frameShapeList);
}
}
payload.Translator.ConstructedSnaphots.Clear();
payload.Translator.AddedShapes.Clear();
payload.Translator.ConstructedFrameStats.Clear();
}
else
{
Console.WriteLine($"Error: read unknown packet type: {basePacket.PacketBytes}");
}
}
else
{
Console.WriteLine("No data to receive");
// todo - this number should be driven by the frame update time sent over or by a config option
Thread.Sleep(5); // we're running faster/as fast as the producer of the data - take a brief break
}
}
}
private void ProcessShapeAdded(BasePacketHeader packet)
{
ShapeCreatedMessage shapeCreatedPacket = ShapeCreatedMessage.Parser.ParseFrom(packet.PacketBytes, packet.startOfPacketData, packet.messageHeader.DataSize);
switch (shapeCreatedPacket.ShapeType)
{
case ShapeTypePacket.Obb:
{
ObbShapePacket createdObbPacket = ObbShapePacket.Parser.ParseFrom(packet.PacketBytes, packet.startOfPacketData + shapeCreatedPacket.CalculateSize(), shapeCreatedPacket.ShapeSize);
ObbShape createdObb = new ObbShape();
createdObb.ImportFromPacket(createdObbPacket);
RegisterNewlyReceivedShape(packet, createdObb);
}
break;
case ShapeTypePacket.Sphere:
break;
case ShapeTypePacket.Cone:
break;
case ShapeTypePacket.ConvexHull:
{
ConvexHullShapePacket createdConvexHullPacket = ConvexHullShapePacket.Parser.ParseFrom(packet.PacketBytes, packet.startOfPacketData + shapeCreatedPacket.CalculateSize(), shapeCreatedPacket.ShapeSize);
ConvexHullShape createdConvexHull = new ConvexHullShape();
createdConvexHull.ImportFromPacket(createdConvexHullPacket);
RegisterNewlyReceivedShape(packet, createdConvexHull);
}
break;
case ShapeTypePacket.Tetrahedron:
{
TetrahedronShapePacket createdTetrahedronPacket = TetrahedronShapePacket.Parser.ParseFrom(packet.PacketBytes, packet.startOfPacketData + shapeCreatedPacket.CalculateSize(), shapeCreatedPacket.ShapeSize);
TetrahedronShape createdTetrahedron = new TetrahedronShape();
createdTetrahedron.ImportFromPacket(createdTetrahedronPacket);
RegisterNewlyReceivedShape(packet, createdTetrahedron);
}
break;
default:
break;
}
}
private void RegisterNewlyReceivedShape(BasePacketHeader packet, BaseShape createdShape)
{
CollectedFrameShapes collectedFrameShapes = null;
if (AddedShapes.TryGetValue(packet.messageHeader.FrameId, out collectedFrameShapes))
{
collectedFrameShapes.Shapes.Add(createdShape);
}
else
{
collectedFrameShapes = new CollectedFrameShapes();
collectedFrameShapes.FrameId = packet.messageHeader.FrameId;
collectedFrameShapes.Shapes = new List <BaseShape>();
collectedFrameShapes.Shapes.Add(createdShape);
AddedShapes.Add(collectedFrameShapes.FrameId, collectedFrameShapes);
}
}
