void Processstuff(byte[] message)
{
MemoryStream stream = new MemoryStream(message);
BinaryReader br = new BinaryReader(stream);
MobilEyeID camID = (MobilEyeID)br.ReadInt32();
MobilEyeMessageID msgID = (MobilEyeMessageID)br.ReadInt32();
br.ReadInt32();
switch (msgID)
{
case MobilEyeMessageID.ME_Obs:
MobilEyeObstaclePacket obs = new MobilEyeObstaclePacket();
obs.id = camID;
obs.carTime = br.ReadDouble();
obs.numObstacles = br.ReadInt32();
obs.obstacles = new MobilEyeWorldObstacle[obs.numObstacles];
for (int i = 0; i < obs.numObstacles; i++)
{
obs.obstacles[i].obstacleID = br.ReadInt32();
obs.obstacles[i].obstacleDistZ = br.ReadSingle();
obs.obstacles[i].confidence = br.ReadInt32();
obs.obstacles[i].path = (VehiclePath)br.ReadInt32();
obs.obstacles[i].currentInPathVehicle = br.ReadBoolean();
obs.obstacles[i].obstacleDistXDirection = br.ReadBoolean();
obs.obstacles[i].obstacleDistX = br.ReadSingle();
if (!(obs.obstacles[i].obstacleDistXDirection))
{
obs.obstacles[i].obstacleDistX *= -1;
}
else
{
Console.Write(".");
}
obs.obstacles[i].obstacleWidth = br.ReadSingle();
obs.obstacles[i].scaleChange = br.ReadSingle();
obs.obstacles[i].velocity = br.ReadSingle();
obs.obstacles[i].bottomRect = br.ReadInt32();
obs.obstacles[i].leftRect = br.ReadInt32();
obs.obstacles[i].topRect = br.ReadInt32();
obs.obstacles[i].rightRect = br.ReadInt32();
}
if (GotMobilEyeObstaclePacket != null)
{
GotMobilEyeObstaclePacket(this, new MobilEyeObstaclePacketEventArgs(obs, camID));
}
break;
}
}
public MobilEyeObstaclePacketEventArgs(MobilEyeObstaclePacket obs, MobilEyeID id)
{
this.obs = obs;
this.id = id;
}
public MobilEyeObstaclePacketEventArgs(MobilEyeObstaclePacket obs, MobilEyeID id)
{
this.obs = obs;
this.id = id;
}