// Read a packet from a connection
// DataAvailable flag must be true before calling
private void ReadPacket(RobotConnection conn)
{
NetworkStream stream = conn.tcpClient.GetStream();
// Read Header
int bytesRead = stream.Read(recvBuf, 0, 5);
// Check the read is successful
if (bytesRead != 5)
{
// If failed, flush the read buffer
Debug.Log("Failed to read packet header");
EyesimLogger.instance.Log("Server: Packet read failure");
while (stream.DataAvailable)
{
stream.Read(recvBuf, 0, recvBuf.Length);
}
return;
}
uint dataSize = BitConverter.ToUInt32(recvBuf, 1);
if (BitConverter.IsLittleEndian)
{
dataSize = RobotFunction.ReverseBytes(dataSize);
}
int packetType = recvBuf[0];
// Read Body
if (dataSize > 0)
{
bytesRead = stream.Read(recvBuf, 0, (int)dataSize);
}
switch (packetType)
{
case PacketType.CLIENT_HANDSHAKE:
if (conn.robot == null)
{
}
break;
case PacketType.CLIENT_MESSAGE:
interpreter.ReceiveCommand(recvBuf, conn);
break;
case PacketType.CLIENT_DISCONNECT:
Debug.Log("Client requested disconnect");
CloseConnection(conn);
break;
default:
break;
}
}
internal void WritePacket(RobotConnection conn, Packet packet)
{
byte[] sendBuf = new byte[packet.dataSize + 5];
UInt32 size = packet.dataSize;
if (BitConverter.IsLittleEndian)
{
size = RobotFunction.ReverseBytes(size);
}
sendBuf[0] = Convert.ToByte(packet.packetType);
BitConverter.GetBytes(size).CopyTo(sendBuf, 1);
if (packet.dataSize > 0)
{
packet.data.CopyTo(sendBuf, 5);
}
NetworkStream stream = conn.tcpClient.GetStream();
stream.Write(sendBuf, 0, ((int)packet.dataSize) + 5);
}
