public async Task WriteAsync(ITurtleApiMessage msg)
{
writerReset.WaitOne();
try
{
int type, len;
MessageConverter.Write(msg, ref writerBuffer, out type, out len);
var payload = len - 8;
writerBuffer[0] = (byte)(payload >> 0);
writerBuffer[1] = (byte)(payload >> 8);
writerBuffer[2] = (byte)(payload >> 16);
writerBuffer[3] = (byte)(payload >> 24);
writerBuffer[4] = (byte)(type >> 0);
writerBuffer[5] = (byte)(type >> 8);
writerBuffer[6] = (byte)(type >> 16);
writerBuffer[7] = (byte)(type >> 24);
await stream.WriteAsync(writerBuffer, 0, len);
}
finally
{
writerReset.Set();
}
}
protected override void Dispatch(ITurtleApiMessage msg)
{
var cm = msg as ClientMessage;
if (cm != null)
{
Program.Verbose($"ClientMessage: {cm.Label} -> {cm.Command}");
ClientServer.Execute(cm.Label, cm.Command);
}
}
protected override void Dispatch(ITurtleApiMessage msg)
{
if (msg.GetType() == typeof(TurtleMessage))
{
var tm = (TurtleMessage)msg;
Console.WriteLine($"TurtleMessage: {tm.Label}");
if (!turtles.ContainsKey(tm.Label))
{
turtles[tm.Label] = new Turtle(tm.Label, this);
}
}
else if (msg.GetType() == typeof(Response))
{
var rs = (Response)msg;
Console.WriteLine($"Response: {rs.Label} -> {rs.Content}");
turtles[rs.Label].OnMessage(rs.Content);
}
}
protected abstract void Dispatch(ITurtleApiMessage msg);
public static void Write(ITurtleApiMessage msg, ref byte[] buffer, out int messageType, out int len)
{
messageType = TypeMap[msg.GetType()];
len = Writers[messageType](ref buffer, msg);
}
