byte[] getBytes(DATA_HEADER_SET str)
{
int size = Marshal.SizeOf(str);
byte[] arr = new byte[size];
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(str, ptr, true);
Marshal.Copy(ptr, arr, 0, size);
Marshal.FreeHGlobal(ptr);
return arr;
}
void dataFromServer(byte[] data, int len)
{
DATA_SET_TO_SIMULATION_t _dataFromsimulationController = ByteArrayToNewStuff (data);
bool sendImage = false;
//Prüfen, um welchen Befehl es sich handelt
if (_dataFromsimulationController.command == SIMULATION_COMMAND.SIMUCOM_SEND_IMAGE) {
sendImage = true;
}
else if (_dataFromsimulationController.command == SIMULATION_COMMAND.SIMUCOM_UPDATE_DATA) {
moveCarFunc(_dataFromsimulationController.speed_mms, _dataFromsimulationController.steering_angle, _dataFromsimulationController.timediff);
_moveCarLights = _dataFromsimulationController.gpio_state;
sendImage = true;
}
//Send Image to Client
if (sendImage == true) {
newScreen = true;
while(newScreen==true){
}
DATA_HEADER_SET header = new DATA_HEADER_SET();
header.type = DATA_HEADER_TYPE.IMAGE_JPEG;
header.length = (UInt32)_cameraImage.Length;
int hSize = Marshal.SizeOf(header);
byte[] sendData = new byte[hSize+ header.length];
Array.Copy(getBytes(header),sendData,hSize);
Array.Copy(_cameraImage,0,sendData,hSize,header.length);
if(_server.getClients().Count>0)
{
TcpClient c = _server.getClients()[0];
if(!_server.sendData(c,sendData))
{
_server.removeClient(c);
}
}
}
}