private UavDataObject DeserializeHeader(BinaryReader stream)
{
// Identifies the type of object and creates the proper object for further processing
stream.ReadInt16(); // length
UInt32 objId = stream.ReadUInt32();
UavDataObject result = ObjectSummary.CreateObject(objId);
if (result == null)
{
// DAVE: add better handling: read length field and skip this packet, instead of stopping with an exception
throw new Exception(string.Format("Unexpected ID: 0x{0:x8} at {1}", objId, stream.BaseStream.Position));
}
result.InstanceId = (result.IsSingleInstance) ? (UInt16)0 : stream.ReadUInt16();
return(result);
}
public UavDataObject GetNextObject(BinaryReader stream)
{
while (true)
{
UavTalk_MessageType mt = SyncStream(stream);
switch (mt)
{
case UavTalk_MessageType.OBJ:
UavDataObject result = DeserializeHeader(stream);
DeserializeBody(stream, result);
return(result);
case UavTalk_MessageType.OBJ_REQ:
case UavTalk_MessageType.ACK:
case UavTalk_MessageType.NACK:
case UavTalk_MessageType.OBJ_ACK:
Console.WriteLine("Walker: " + mt.ToString());
break;
}
}
}
protected void DeserializeBody(BinaryReader stream, UavDataObject target)
{
target.DeserializeBody(stream);
}
static void OnSerialTelemetryMessage(UavDataObject obj)
{
Console.WriteLine(obj.ToString());
}
protected void DeserializeBody(BinaryReader stream, UavDataObject target)
{
target.DeserializeBody(stream);
}