internal DataPacket(byte[] packet, long receivedTimeStamp)
{
raw = packet;
Received = receivedTimeStamp;
ScanHead = packet[4];
Camera = (Camera)packet[5];
Laser = (Laser)packet[6];
ExposureTime = IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 2));
Timestamp = IPAddress.NetworkToHostOrder(BitConverter.ToInt64(packet, 8));
Source = packet[4] << 3 | packet[5] << 2 | packet[6];
PartNum = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(packet, 24));
NumParts = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(packet, 28));
LaserOnTime = IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 16));
Contents = (DataType)IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 18));
PayloadLength = IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 20));
NumContentTypes = Contents.BitsSet();
NumEncoderVals = packet[22];
EncoderVals = new long[NumEncoderVals];
int encOffset = (NumContentTypes * 2) + 4; // offset from the end of the header at byte 32
for (int i = 0; i < NumEncoderVals; i++)
{
EncoderVals[i] = IPAddress.NetworkToHostOrder(BitConverter.ToInt64(packet, 32 + encOffset + (i * 8)));
}
// Contents now holds a bitfield for how many data types are present
StartColumn = IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 32));
EndColumn = IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 34));
FragmentLayouts = new Dictionary <DataType, FragmentLayout>();
int offset = 0;
int dataOffset = 32 + 4 + (NumEncoderVals * 8) + (NumContentTypes * 2);
foreach (var dt in Contents.GetFlags())
{
short step = IPAddress.NetworkToHostOrder(BitConverter.ToInt16(packet, 32 + 4 + offset));
int payloadsize;
int numVals;
if (dt != DataType.IM)
{
int numCols = EndColumn - StartColumn + 1;
numVals = numCols / (NumParts * step);
// If the data doesn't divide evenly into the DataPackets, each DataPacket starting
// from the first will have 1 additional value of the type in question.
if (((numCols / step) % NumParts) > PartNum)
{
numVals++;
}
payloadsize = dt.Size() * numVals;
}
else
{
numVals = PayloadLength;
payloadsize = PayloadLength;
}
var fl = new FragmentLayout()
{
step = step,
numVals = numVals,
payloadsize = payloadsize,
offset = dataOffset
};
dataOffset += fl.payloadsize;
FragmentLayouts[dt] = fl;
offset += 2;
}
}