public wheel(byte[] DataStream)
{
Buffer.BlockCopy(DataStream, 0, wheel_base_O, 0, 44);
Buffer.BlockCopy(DataStream, 44, wheel_ext_E, 0, 60);
this.wheel_O = new wheel_o(wheel_base_O);
this.wheel_E = new wheel_e(wheel_ext_E);
}
public Packet Parse(byte[] DataStream, int[] lens)
{
Packet pkt;
wheel_o[] myWheel_O = new wheel_o[4];
b = Split(DataStream, lens);
header_c _header_C = new header_c(b[0]);
header_m _header_M0 = new header_m(b[1]);
header_m _header_M1 = new header_m(b[2]);
state _state = new state(b[3]);
header_m _header_M2 = new header_m(b[4]);
myWheel_O[0] = new wheel_o(b[5]);
myWheel_O[1] = new wheel_o(b[6]);
myWheel_O[2] = new wheel_o(b[7]);
myWheel_O[3] = new wheel_o(b[8]);
header_m _header_M3 = new header_m(b[9]);
pkt = new Packet(_header_C, _header_M0, _header_M1, _state, _header_M2, myWheel_O, _header_M3);
return(pkt);
}
public byte[] Serialize(wheel_o wheel_O)
{
List <byte> DataStream = new List <byte>();
DataStream.AddRange(BitConverter.GetBytes(wheel_O.playerId));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.id));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.flags));
DataStream.AddRange(wheel_O.spare0);
DataStream.AddRange(BitConverter.GetBytes(wheel_O.radiusStatic));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.springCompression));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.rotAngle));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.slip));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.steeringAngle));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.spare1[0]));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.spare1[1]));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.spare1[2]));
DataStream.AddRange(BitConverter.GetBytes(wheel_O.spare1[3]));
DataStream.RemoveAt(5);
DataStream.RemoveAt(6);
return(DataStream.ToArray());
}
public Packet Parse(byte[] DataStream)
{
Packet pkt;
int offset = 0;
int entry_hdr_size = 16;
byte[] b = new byte[4096];
byte[] filtered_packet = new byte[4096];
byte[] wheel_pkg = new byte[512];
byte[] state_pkg = new byte[512];
wheel_o[] myWheel = new wheel_o[4];
state _state = new state(new byte[1024]);
header_m _header_M0 = new header_m(0, 0, 1, 0); // RDB_PKG_ID_START_OF_FRAME
header_m _header_M1 = new header_m(0, 0, 0, 0); // Object state
header_m _header_M2 = new header_m(0, 0, 0, 0); // Wheel frame
header_m _header_M3 = new header_m(0, 0, 2, 0); // RDB_PKG_ID_END_OF_FRAME
// Read main header
header_c _header_C = new header_c(DataStream);
// Move past header. Data segment is the first entry header.
offset += (int)_header_C.headerSize;
Console.WriteLine("Frame no: " + _header_C.frameNo);
// Then check reamining sub packages
while (offset < (int)_header_C.headerSize + (int)_header_C.dataSize)
{
// Read entry header
Buffer.BlockCopy(DataStream, offset, b, 0, entry_hdr_size);
header_m entry_header = new header_m(b);
// Move ahead passed entry header, read data
offset += (int)entry_header.headerSize;
if (entry_header.dataSize > 0)
{
Buffer.BlockCopy(DataStream, offset, b, 0, (int)entry_header.dataSize);
if (entry_header.pkgId == 9) // RDB_PKG_ID_OBJECT_STATE
{
_header_M1 = entry_header;
for (int i = 0; i < entry_header.dataSize / entry_header.elementSize; i++)
{
Buffer.BlockCopy(b, i * (int)entry_header.elementSize, state_pkg, 0, (int)entry_header.elementSize);
state state_tmp = new state(state_pkg);
Console.WriteLine("state :" + state_tmp.state_base.id);
if (state_tmp.state_base.id == 1)
{
_state = state_tmp;
Console.WriteLine("------Storing state pos (" +
_state.state_base.pos.x + ", " +
_state.state_base.pos.y + ", " +
_state.state_base.pos.z + ")");
}
}
}
else if (entry_header.pkgId == 14) // RDB_PKG_ID_WHEEL
{
_header_M2 = entry_header;
for (int i = 0; i < entry_header.dataSize / entry_header.elementSize; i++)
{
Buffer.BlockCopy(b, i * (int)entry_header.elementSize, wheel_pkg, 0, (int)entry_header.elementSize);
wheel_o tmp_wheel = new wheel_o(wheel_pkg);
Console.WriteLine("wheel: " + tmp_wheel.playerId);
if (tmp_wheel.playerId == 1)
{
Console.WriteLine("------Storing wheel no " + i + " steering: " + tmp_wheel.steeringAngle);
myWheel[tmp_wheel.id] = new wheel_o(wheel_pkg);
}
}
}
else
{
Console.WriteLine("Discarded package id: " + entry_header.pkgId);
}
offset += (int)entry_header.dataSize;
}
}
if (_header_M1.pkgId == 0 | _header_M2.pkgId == 0)
{
Console.WriteLine("Did not get start and/or end frame!\n");
}
pkt = new Packet(_header_C, _header_M0, _header_M1, _state, _header_M2, myWheel, _header_M3);
return(pkt);
}
public wheel(wheel_o wheel_O, wheel_e wheel_E)
{
this.wheel_O = wheel_O;
this.wheel_E = wheel_E;
}
