public RecieveUserToken([NotNull] Socket socket, RecieveState initalState,
[NotNull] TaskCompletionSource <TcpMessage> recieveTaskCompletionSource,
[NotNull] AsyncSocketMessageTransport parent)
{
if (socket == null)
{
throw new ArgumentNullException("socket");
}
if (recieveTaskCompletionSource == null)
{
throw new ArgumentNullException("recieveTaskCompletionSource");
}
if (parent == null)
{
throw new ArgumentNullException("parent");
}
Socket = socket;
State = initalState;
RecieveTaskCompletionSource = recieveTaskCompletionSource;
Parent = parent;
}
void Recieve()
{
while (true)
{
try
{
if (paused)
{
continue;
}
if (state != State.CONNECTED)
{
StateChangedEvent.WaitOne();
continue;
}
byte[] buf = new byte[4]; // 4 bytes for "pic:" or "pong"
int expected_size = 0;
if (_recieve_state == RecieveState.PINGPONG)
{
lock (InStream)
{
InStream.Read(buf, 0, buf.Length);
}
last_ping = DateTime.UtcNow;
String command = Encoding.ASCII.GetString(buf).Trim();
if (command.StartsWith("pic"))
{
buf = new byte[8]; // 8 bytes for image size
InStream.Read(buf, 0, buf.Length);
expected_size = Int32.Parse(Encoding.ASCII.GetString(buf).Trim());
Console.WriteLine("Expecting a picture, {0} bytes", expected_size);
_recieve_state = RecieveState.PICTURE;
}
else if (command.StartsWith("wifi"))
{
Console.WriteLine(command);
buf = new byte[4]; // 4 bytes for recieved handshake json length
InStream.Read(buf, 0, buf.Length);
Console.WriteLine(Encoding.ASCII.GetString(buf));
expected_size = Int32.Parse(Encoding.ASCII.GetString(buf).Trim());
buf = Common.ReadAll(InStream, expected_size);
WifiCallback(buf);
}
else if (command != "pong")
{
// Unexpected data in buffer...
// Recover by reconnecting?
Console.WriteLine("junk on the buffer :( '" + command + "'");
Disconnect();
Connect(this.device);
}
}
// This is a regular if, not an else if!
if (_recieve_state == RecieveState.PICTURE)
{
byte[] picbuf = Common.ReadAll(InStream, expected_size, 8192 * 2);
Console.WriteLine("Recieved picture? {0} bytes", picbuf.Length);
Bitmap bitmap = BitmapFactory.DecodeByteArray(picbuf, 0, picbuf.Length);
Console.WriteLine("Bitmap (hopefully) ready, sending over to main thread");
handler.ObtainMessage(0, bitmap).SendToTarget();
_recieve_state = RecieveState.PINGPONG;
}
}
catch (Java.IO.IOException e)
{
Console.WriteLine("Recieving failed, connection might be lost");
Console.WriteLine(e);
SetState(State.NOT_CONNECTED);
Connect(device);
}
}
}
public void recieve_buffered()
{
if (connection_state != ConnectionState.Connected)
{
return;
}
while (client.Available > 0)
{
if (recieve_state == RecieveState.Key)
{
if (client.Available < 3)
{
break;
}
byte[] cur_key = new byte[3];
if (client.GetStream().Read(cur_key, 0, 3) == 3)
{
// Got key, check it
bool valid_key = true;
for (int i = 0; i < 3; i++)
{
if (cur_key[0] != CommunicationDefinitions.key[0])
{
valid_key = false;
}
}
if (valid_key)
{
recieve_state = RecieveState.Header;
}
else
{
recieve_state = RecieveState.Key;
}
}
}
else if (recieve_state == RecieveState.Header)
{
if (client.Available < 1)
{
break;
}
if (client.GetStream().Read(recieve_buffer, 0, 1) == 1)
{
if (CommunicationDefinitions.PACKET_SIZES.ContainsKey((CommunicationDefinitions.TYPE)recieve_buffer[0]))
{
recieve_size = CommunicationDefinitions.PACKET_SIZES[(CommunicationDefinitions.TYPE)recieve_buffer[0]];
recieve_state = RecieveState.Data;
}
else
{
recieve_state = RecieveState.Key;
}
}
}
else if (recieve_state == RecieveState.Data)
{
if (client.Available < recieve_size)
{
break;
}
if (client.GetStream().Read(recieve_buffer, 1, recieve_size) == recieve_size)
{
CommunicationDefinitions.TYPE type = (CommunicationDefinitions.TYPE)recieve_buffer[0];
if (type == CommunicationDefinitions.TYPE.DATAAGGREGATOR_STATE)
{
StateData.dataaggregator_state.Deserialize(recieve_buffer);
parent.update_indicators();
}
else if (type == CommunicationDefinitions.TYPE.VISION)
{
StateData.vision_data.Deserialize(recieve_buffer);
}
else if (type == CommunicationDefinitions.TYPE.SENSOR_STATE)
{
StateData.sensor_state_data.Deserialize(recieve_buffer);
}
else if (type == CommunicationDefinitions.TYPE.VISION_IMAGE)
{
parent.vision_view.SetImage(recieve_buffer.Skip(1).ToArray());
}
else if (type == CommunicationDefinitions.TYPE.ROBOT_STATE)
{
StateData.robot_state_data.Deserialize(recieve_buffer);
}
else if (type == CommunicationDefinitions.TYPE.REALSENSE)
{
StateData.realsense_data.Deserialize(recieve_buffer);
}
else
{
Console.WriteLine("Invalid Type");
}
recieve_state = RecieveState.Key;
}
}
}
}
