private bool ParseBuffer(List <System.Byte> buffer)
{
if (buffer.Count < 2)
{
return(false);
}
System.Byte[] byteArray = buffer.ToArray();
MemoryStream stream = new MemoryStream(byteArray);
BinaryReader br = new BinaryReader(stream);
int messageSize = (int)br.ReadInt16();
int packetSize = 2 + messageSize;
if (stream.Length >= packetSize)
{
SDKMessageIn message = null;
try
{
message = new SDKMessageIn();
try
{
message.Unpack(stream);
}
catch (System.Exception e)
{
if (message.Size != messageSize)
{
throw new System.Exception("Could not parse message " + message.GetTag() + ": " +
"message size " + message.Size.ToString() +
" not equal to buffer size " + messageSize.ToString(),
e);
}
throw;
}
if (message.Size != messageSize)
{
throw new System.Exception("Could not parse message " + message.GetTag() + ": " +
"message size " + message.Size.ToString() +
" not equal to buffer size " + messageSize.ToString());
}
}
catch (System.Exception e)
{
System.Console.WriteLine(e.Message);
Close();
return(false);
}
ReceiveMessage(message);
buffer.RemoveRange(0, packetSize);
return(true);
}
else
{
return(false);
}
}
private void ReceiveMessage(SDKMessageIn messageIn)
{
var message = messageIn.Message;
if (_verboseLogging)
{
System.Console.WriteLine("Recieved Message - " + message.GetTag());
}
// since the property to access individual message data in a CLAD message shares its name
// with the message's tag, we can use that name to get the property that retrieves message
// data for this type, and execute it on this message
object messageData = typeof(Anki.Cozmo.ExternalInterface.MessageEngineToGame).GetProperty(message.GetTag().ToString()).GetValue(message, null);
Dictionary <object, iCallback> callbacks;
if (_callbacks.TryGetValue(messageData.GetType(), out callbacks))
{
iCallback[] callbacksToExectute = callbacks.Values.ToArray();
foreach (iCallback callback in callbacksToExectute)
{
callback.Execute(messageData);
}
}
if (!_robotIsConnected && message.GetTag() == Anki.Cozmo.ExternalInterface.MessageEngineToGame.Tag.RobotState)
{
_robotIsConnected = true;
System.Console.WriteLine("Robot connected!");
}
}
