/// <summary>
/// This method is call when data was readed from the socket input buffer
/// </summary>
/// <param name="bytesRead"></param>
/// <param name="readPacket"></param>
private void OnDataReadCompletion(UInt32 bytesRead, DataReader readPacket)
{
if (readPacket == null)
{
if (Verbose)
{
Debug.WriteLine("DataReader is null");
}
}
else if (readPacket.UnconsumedBufferLength != 0)
{
Byte[] numArray = new Byte[bytesRead];
readPacket.ReadBytes(numArray);
ResponsePacket response = ParseResponse(numArray);
if (response != null)
{
DispatchResponse(response);
if (Verbose)
{
Debug.WriteLine("Nouveau message : {0}", BitConverter.ToString(response.ToArray()));
}
}
ReadBuffer(16);
}
else
{
if (OnDisconnection != null)
{
OnDisconnection();
}
if (Verbose)
{
Debug.WriteLine("Received zero bytes from the socket. Server must have closed the connection.");
Debug.WriteLine("Try disconnecting and reconnecting to the server");
}
}
}
internal ResponsePacket ParseResponse(byte[] data)
{
ResponsePacket response = null;
_data.AddRange(data);
if (_data.Count >= 6)
{
if (_data[0] != 255 || _data[1] != 255)
{
// Bad message case
if (_data[0] != 255 || _data[1] != 254)
{
// No Sphero Message
// Clean data until the next message
int nextMessageIndex = _data.IndexOf(255);
if (nextMessageIndex >= 0)
_data.RemoveRange(0, nextMessageIndex);
else
_data.Clear();
}
// Asynchronous message case
byte lengthMSB = _data[3], lengthLSB = _data[4];
int length = BitConverter.ToUInt16(new byte[] { lengthLSB, lengthMSB }, 0) + 5;
if (_data.Count >= length)
{
byte[] responseArray = new byte[length];
_data.CopyTo(0, responseArray, 0, length);
_data.RemoveRange(0, length);
AsyncResponsePacket packet = new AsyncResponsePacket(responseArray);
DispatchAsyncResponse(packet);
}
}
else
{
// Acknowledgement
int length = 5 + _data[4];
if (_data.Count >= length)
{
byte[] responseArray = new byte[length];
_data.CopyTo(0, responseArray, 0, length);
_data.RemoveRange(0, length);
response = new ResponsePacket(responseArray);
}
}
}
return response;
}
internal void DispatchResponse(ResponsePacket response)
{
if(_responseDictionnary.ContainsKey(response.SequenceNumber))
{
if (_responseDictionnary[response.SequenceNumber] != null)
_responseDictionnary[response.SequenceNumber](response);
_responseDictionnary.Remove(response.SequenceNumber);
}
}
