protected override void Loop(CancellationToken token)
{
using (var tcpClient = new TcpClient(_networkConfiguration.DroneHostname, ControlPort))
using (NetworkStream stream = tcpClient.GetStream())
{
var buffer = new byte[NetworkBufferSize];
Stopwatch swConfigTimeout = Stopwatch.StartNew();
while (token.IsCancellationRequested == false && swConfigTimeout.ElapsedMilliseconds < ConfigTimeout)
{
int offset = 0;
if (tcpClient.Available > 0)
{
offset += stream.Read(buffer, offset, buffer.Length);
// config eof check
if (offset > 0 && buffer[offset - 1] == 0x00)
{
var data = new byte[offset];
Array.Copy(buffer, data, offset);
var packet = new ConfigurationPacket
{
Timestamp = DateTime.UtcNow.Ticks,
Data = data
};
_configurationAcquired(packet);
return;
}
}
Thread.Sleep(10);
}
}
}
public static bool TryUpdate(DroneConfiguration configuration, ConfigurationPacket packet)
{
bool updated = false;
using (var ms = new MemoryStream(packet.Data))
using (var sr = new StreamReader(ms))
{
string line;
while ((line = sr.ReadLine()) != null)
{
Match match = _reKeyValue.Match(line);
if (match.Success)
{
string key = match.Groups["key"].Value;
IConfigurationItem item;
if (configuration.Items.TryGetValue(key, out item))
{
string value = match.Groups["value"].Value;
if (item.TryUpdate(value))
{
updated = true;
}
}
else
{
Trace.TraceWarning("Configuration key {0} is not supported by parser. Original line: {1}", key, line);
}
}
}
}
return updated;
}