public SlamPackage GetPackage()
{
int countOfBytes = -1;
SlamPackage receivedPackage = null;
Debug.LogFormat("[PackagesReceiver.GetPackage] Buffer size {0}", m_packagesBuffer.Count);
Debug.LogFormat("[PackagesReceiver.GetPackage] Buffer check");
if (m_packagesBuffer.Count > 0 && m_packagesBuffer.First().Key == m_packageNum)
{
receivedPackage = m_packagesBuffer[m_packageNum];
Debug.LogFormat("[PackagesReceiver.GetPackage] Buffer removing");
m_packagesBuffer.Remove(m_packageNum);
Debug.LogFormat("[PackagesReceiver.GetPackage] Buffer removed");
Debug.LogFormat("[PackagesReceiver.GetPackage] Buffer checked");
m_packageNum += 1;
return(receivedPackage);
}
Debug.LogFormat("[PackagesReceiver.GetPackage] Socket check");
if (m_network.Available > 8)
{
Debug.LogFormat("[PackagesReceiver.GetPackage] Receive");
byte[] datagram = m_network.Receive(ref endPoint);
Debug.LogFormat("[PackagesReceiver.GetPackage] Received");
uint packageNum = BitConverter.ToUInt32(datagram, 0);
countOfBytes = BitConverter.ToInt32(datagram, sizeof(int));
if (countOfBytes != datagram.Length - 2 * sizeof(int))
{
Debug.LogWarningFormat("Bad package! Read bytes count = {0}; Actual bytes count {1}", countOfBytes, datagram.Length - sizeof(int));
}
else
{
byte[] rawPackage = new byte[countOfBytes];
Array.Copy(datagram, sizeof(int) * 2, rawPackage, 0, countOfBytes);
Debug.LogFormat("[PackagesReceiver.GetPackage] Parse");
SlamPackage.Parse(rawPackage, 0, out receivedPackage);
Debug.LogFormat("[PackagesReceiver.GetPackage] Parsed");
}
if (packageNum == m_packageNum)
{
m_packageNum += 1;
}
else
{
Debug.LogFormat("[PackagesReceiver.GetPackage] Add to buffer");
Debug.LogFormat("[PackagesReceiver.GetPackage] Package Num = {0}, receivedPackage = {1}", packageNum, receivedPackage);
Debug.LogFormat("[PackagesReceiver.GetPackage] Already in list = {0}", m_packagesBuffer.ContainsKey(packageNum));
m_packagesBuffer.Add(packageNum, receivedPackage);
Debug.LogFormat("[PackagesReceiver.GetPackage] Added to buffer");
receivedPackage = null;
}
}
Debug.LogFormat("[PackagesReceiver.GetPackage] Socket checked");
// Wi-Fi pass: 5251166525 :)
return(receivedPackage);
}
public override int Parse(byte[] data, int startIdx, out IPackage result)
{
result = null;
if ((PackageType)data[startIdx] != PackageType.SLAMPackage)
{
return(m_successor?.Parse(data, startIdx, out result) ?? 0);
}
int readBytes = SlamPackage.Parse(data, startIdx, out SlamPackage slamPkg);
Convert(ref slamPkg);
result = slamPkg;
return(readBytes);
}