public InfoChangedEventArgs(DroneInfo info)
{
this.Info = info;
}
private void HandlePacket(byte[] packet)
{
// jedes Drohnen Paket ist mindestens HeaderSize Bytes lang und fangen mit "FLY" an
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (packet.Length < HeaderSize || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
return;
}
int revision = buffer.ReadInt();
bool isGuaranteed = buffer.ReadByte() > 0;
PacketType type = (PacketType)buffer.ReadByte();
if (Config.VerbosePacketReceive &&
type != PacketType.Ack &&
(type != PacketType.Ping || Config.LogPingPacket))
{
Log.Verbose("[{0}] Received: [{1}] {2}, size: {3} bytes", Address.ToString(), revision, type, packet.Length);
}
switch (type)
{
case PacketType.Ping:
if (packet.Length < HeaderSize + sizeof(long))
{
throw new InvalidDataException("Packet is not long enough.");
}
bool wasNotConnected = !CheckConnection();
lastPing = Environment.TickCount;
long time = buffer.ReadLong(); // time ist der Wert von stopwatch zum Zeitpunkt des Absenden des Pakets
Ping = (int)(stopwatch.ElapsedMilliseconds - time);
if (wasNotConnected)
{
OnConnected?.Invoke(this, EventArgs.Empty);
}
RemovePacketToAcknowlegde(revision);
break;
case PacketType.Ack:
IPacket acknowlegdedPacket;
if (!packetsToAcknowledge.TryGetValue(revision, out acknowlegdedPacket))
{
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Unknown acknowlegde: [{1}]", Address.ToString(), revision);
}
break;
}
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Acknowlegde: [{1}] {2}", Address.ToString(), revision, acknowlegdedPacket.Type);
}
RemovePacketToAcknowlegde(revision);
break;
case PacketType.Info:
Info = new DroneInfo(buffer);
Settings = DroneSettings.Read(buffer);
RemovePacketToAcknowlegde(revision);
break;
default:
throw new InvalidDataException("Invalid packet type to get sent by cluster.");
}
}
}
public InfoChangedEventArgs(Drone drone)
{
this.Info = drone.Info;
}
private void HandlePacket(byte[] packet)
{
// jedes Drohnen Paket ist mindestens HeaderSize Bytes lang und fangen mit "FLY" an
using (MemoryStream stream = new MemoryStream(packet))
{
PacketBuffer buffer = new PacketBuffer(stream);
if (packet.Length < HeaderSize || buffer.ReadByte() != 'F' || buffer.ReadByte() != 'L' || buffer.ReadByte() != 'Y')
{
return;
}
int revision = buffer.ReadInt();
bool isGuaranteed = buffer.ReadByte() > 0;
PacketType type = (PacketType)buffer.ReadByte();
if (Config.VerbosePacketReceive &&
type != PacketType.Ack &&
(Config.LogPingPacket || type != PacketType.Ping) &&
(Config.LogNoisyPackets || !type.IsNosiy()))
{
Log.Verbose("[{0}] Received: [{1}] {2}, size: {3} bytes", Address.ToString(), revision, type, packet.Length);
}
switch (type)
{
case PacketType.Ping:
bool wasNotConnected = !CheckConnection();
lastPing = Environment.TickCount;
long time = 0;
if (packet.Length >= HeaderSize + sizeof(long))
{
time = buffer.ReadLong(); // time ist der Wert von stopwatch zum Zeitpunkt des Absenden des Pakets
}
else
{
Log.Error("Invalid ping packet received with length: {0}", packet.Length);
}
int ping = (int)(stopwatch.ElapsedMilliseconds - time);
if (ping < 0)
{
Log.Warning("Invalid ping value received: {0}", ping);
ping = 0;
}
Ping = ping;
if (wasNotConnected)
{
OnConnected?.Invoke(this, EventArgs.Empty);
}
RemovePacketToAcknowledge(revision);
break;
case PacketType.Ack:
IPacket acknowlegdedPacket;
if (!packetsToAcknowledge.TryGetValue(revision, out acknowlegdedPacket))
{
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Unknown acknowledge: [{1}]", Address.ToString(), revision);
}
break;
}
if (Config.VerbosePacketReceive)
{
Log.Verbose("[{0}] Acknowledge: [{1}] {2}", Address.ToString(), revision, acknowlegdedPacket.Type);
}
RemovePacketToAcknowledge(revision);
break;
case PacketType.Info:
Info = new DroneInfo(buffer);
Settings = DroneSettings.Read(buffer);
if (firstInfo)
{
Log.Info("Received drone info for first time...");
Log.WriteProperties(LogLevel.Info, Info);
firstInfo = false;
}
RemovePacketToAcknowledge(revision);
break;
default:
throw new InvalidDataException("Invalid packet type received.");
}
}
}
