private UDPTelemetryData Deserialize(byte[] rawData)
{
GCHandle telemetryHandle = GCHandle.Alloc(rawData.ToArray(), GCHandleType.Pinned);
try
{
UDPTelemetryData udpTelemetry = (UDPTelemetryData)Marshal.PtrToStructure(telemetryHandle.AddrOfPinnedObject(), typeof(UDPTelemetryData));
return(udpTelemetry);
}
finally
{
telemetryHandle.Free();
}
}
public async Task ReceiveLoop(Action <UDPTelemetryData> handler, CancellationToken cancellationToken)
{
while (!cancellationToken.IsCancellationRequested)
{
UdpReceiveResult receiveResult = await _udpReceiver.Receive(cancellationToken);
if (!IsCorrectPackageType(receiveResult.Buffer))
{
continue;
}
UDPTelemetryData telemetryData = Deserialize(receiveResult.Buffer);
handler(telemetryData);
}
}
private void OnNewUdpData(UDPTelemetryData data)
{
_pCars2DataConvertor.UdpTelemetryData = data;
}
