/* Runs when triggered by an ACReader object */
private void OnPacketReceived(object sender, ACReceivedEventArgs args)
{
PacketID id = args.id;
if (id == PacketID.RESPONSE)
{
responseMtx.WaitOne();
responsePacket = (HandshakeResponse)args.packet;
responseMtx.ReleaseMutex();
dataMtx.WaitOne();
maxRpm = 0;
dataMtx.ReleaseMutex();
}
else if (id == PacketID.UPDATE)
{
RTCarInfo packet = (RTCarInfo)args.packet;
dataMtx.WaitOne();
if (packet.engineRPM > maxRpm)
{
maxRpm = (int)packet.engineRPM;
}
dataMtx.ReleaseMutex();
PositionEventArgs newPos = new PositionEventArgs();
newPos.x = packet.carCoordinates[0];
newPos.y = packet.carCoordinates[1];
newPos.z = packet.carCoordinates[2];
GForceEventArgs newGs = new GForceEventArgs();
newGs.lat = packet.accG_horizontal;
newGs.lon = packet.accG_frontal;
PowertrainEventArgs newPow = new PowertrainEventArgs();
newPow.rpm = (int)packet.engineRPM;
newPow.kmh = packet.speed_Kmh;
newPow.mph = packet.speed_Mph;
AxesEventArgs newAxes = new AxesEventArgs();
newAxes.throttle = packet.gas;
newAxes.brake = packet.brake;
newAxes.clutch = 1.0f - packet.clutch;
newAxes.steering = packet.steer;
RaisePositionReceived(newPos);
RaiseGForceReceived(newGs);
RaisePowertrainReceived(newPow);
RaiseAxesReceived(newAxes);
}
}
/* Receives packets and raises events continuously on a thread */
private void ThreadRoutine()
{
Console.WriteLine("Test");
/* Sets up UDP connection objects */
UdpClient client = new UdpClient(clientPort);
IPEndPoint ep = new IPEndPoint(IPAddress.Parse(serverIP), serverPort);
client.Client.ReceiveTimeout = timeout;
/* Sends required connection handshake and gets back static data */
byte[] responseData = new byte[1];
while (true)
{
flagMtx.WaitOne();
if (!isRunning)
{
flagMtx.ReleaseMutex(); expectedID = (PacketID)(-1); break;
}
else
{
flagMtx.ReleaseMutex();
}
client.Send(CONNECT_HANDSHAKE, HANDSHAKE_PACKET_SIZE, ep);
try {
responseData = client.Receive(ref ep);
if (IsValidPacketData(ref responseData, PacketID.RESPONSE))
{
break;
}
else
{
Console.WriteLine("Received response data of unexpected size!"); continue;
}
}
catch (SocketException e) { continue; }
}
/* Parse the data into a packet, wrap it inside an EventArgs object and raise the received event */
ACReceivedEventArgs responseArgs = new ACReceivedEventArgs(ParsePacket <HandshakeResponse>(ref responseData), PacketID.RESPONSE);
RaisePacketReceived(responseArgs);
/* Loop to receive data depending on set subscription type */
if (expectedID == PacketID.UPDATE)
{
/* Send a request to start updating */
client.Send(UPDATE_HANDSHAKE, HANDSHAKE_PACKET_SIZE, ep);
while (true)
{
/* Break if isRunning is false */
flagMtx.WaitOne();
if (!isRunning)
{
flagMtx.ReleaseMutex(); break;
}
else
{
flagMtx.ReleaseMutex();
}
byte[] data;
/* Try to get data from the socket and restart on timeout */
try { data = client.Receive(ref ep); }
catch (SocketException e) { continue; }
// Console.WriteLine(data.Length);
/* Restart the loop if the received data is not of the correct length */
if (!IsValidPacketData(ref data, PacketID.UPDATE))
{
continue;
}
/* Parse the data into a packet, wrap it inside an EventArgs object and raise the received event */
ACReceivedEventArgs updateArgs = new ACReceivedEventArgs(ParsePacket <RTCarInfo>(ref data), PacketID.UPDATE);
RaisePacketReceived(updateArgs);
// Console.WriteLine(Marshal.SizeOf(ParsePacket<RTCarInfo>(ref data)));
}
}
else if (expectedID == PacketID.SPOT)
{
/* Send a request to receive spot updates */
client.Send(SPOT_HANDSHAKE, HANDSHAKE_PACKET_SIZE, ep);
while (true)
{
/* Break if isRunning is false */
flagMtx.WaitOne();
if (!isRunning)
{
flagMtx.ReleaseMutex(); break;
}
else
{
flagMtx.ReleaseMutex();
}
byte[] data;
/* Try to get data from the socket and restart on timeout */
try { data = client.Receive(ref ep); }
catch (SocketException e) { continue; }
/* Restart the loop of the received data is not of the correct length */
if (!IsValidPacketData(ref data, PacketID.SPOT))
{
continue;
}
/* Parse the data into a pakcet, wrap it inside an EventArgs object and raise the received event */
ACReceivedEventArgs updateArgs = new ACReceivedEventArgs(ParsePacket <RTCarInfo>(ref data), PacketID.SPOT);
RaisePacketReceived(updateArgs);
}
}
/* Send a request to stop updates and close the client */
client.Send(DISMISS_HANDSHAKE, HANDSHAKE_PACKET_SIZE, ep);
client.Close();
}
/* Raises a PacketReceivedEvent if someone has subscribed to it */
private void RaisePacketReceived(ACReceivedEventArgs args)
{
PacketReceivedEvent?.Invoke(this, args);
}