/// <summary>
/// Writes a list of perception (for SARL)
/// </summary>
/// <param name="writer">The binary writer</param>
/// <param name="perceptionList">The list of perceptions</param>
public static void Write(this BinaryWriter writer, PerceptionList perceptionList)
{
writer.WriteSarlString(perceptionList.Id);
writer.WriteInt32BE(perceptionList.Perceptions.Count);
foreach (var perception in perceptionList.Perceptions)
{
writer.Write(perception.Position);
}
}
/// <summary>
/// Emits the perceptions to the SARL agents
/// </summary>
/// <param name="perceptionList">The list of perceptions</param>
public void EmitPerceptions(PerceptionList perceptionList)
{
var ipEndPoint = new IPEndPoint(IPAddress.Loopback, this.emissionPort);
using (MemoryStream stream = new MemoryStream())
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
writer.Write(perceptionList);
}
stream.Flush();
var buffer = stream.GetBuffer();
udpClient.Send(buffer, buffer.Length, ipEndPoint);
}
}