Esempio n. 1
0
        /// <summary>
        /// Start listening on specified port and adding data to the BlockingCollection
        /// </summary>
        /// <param name="threadInfos">Thread informations - connection params</param>
        override protected void StartListening(object threadInfos)
        {
            UdpThreadInfos <Cloud> ti = (UdpThreadInfos <Cloud>)threadInfos;

            Console.WriteLine("UdpCloudListener thread started");

            _udp = new UdpClient(ti.Port);
            IPEndPoint remoteEP = new IPEndPoint(IPAddress.Any, ti.Port);

            Cloud aggregateCloud = null;

            while (true)
            {
                byte[] data = null;
                try
                {
                    data = _udp.Receive(ref remoteEP);
                }
                catch (Exception ex)
                {
                }
                var cloud = new Cloud
                {
                    Timestamp = BitConverter.ToInt64(data, 0),
                    Points    = new List <CloudPoint>()
                };

                int currentByte = 8;

                while (currentByte < data.Length)
                {
                    var point = new CloudPoint();
                    point.X      = BitConverter.ToSingle(data, currentByte);
                    currentByte += 4;
                    point.Y      = BitConverter.ToSingle(data, currentByte);
                    currentByte += 4;
                    point.Z      = BitConverter.ToSingle(data, currentByte);
                    currentByte += 4;

                    point.R = data.ElementAt(currentByte);
                    currentByte++;
                    point.G = data.ElementAt(currentByte);
                    currentByte++;
                    point.B = data.ElementAt(currentByte);
                    currentByte++;

                    point.Tag = data.ElementAt(currentByte);
                    currentByte++;

                    // Filter points (0,0,0)
                    if (point.X != 0 && point.Y != 0 && point.Z != 0)
                    {
                        cloud.Points.Add(point);
                    }
                }

                // First frame
                if (aggregateCloud == null)
                {
                    aggregateCloud = cloud;
                }

                // If changing frame, send last complete received one
                else if (aggregateCloud.Timestamp != cloud.Timestamp)
                {
                    ti.DataTransferer.Add(aggregateCloud);
                    aggregateCloud = cloud;
                }

                // If same frame, aggregate
                else
                {
                    aggregateCloud.Points.AddRange(cloud.Points);
                }
            }
        }
Esempio n. 2
0
 public UdpCloudListener(BlockingCollection <Cloud> dataTransferer, int port)
 {
     _udpThreadInfos = new UdpThreadInfos <Cloud>(dataTransferer, port);
 }