internal static string GetErrorReason(ScanHeadVersionInformation version)
{
string scanHeadVersion = $"{version.Major}.{version.Minor}.{version.Patch}";
string apiVersion = $"{VersionInformation.Major}.{VersionInformation.Minor}.{VersionInformation.Patch}";
return($"Scan head version {scanHeadVersion} is not compatible with API version {apiVersion}");
}
internal VersionCompatibilityException(ScanHeadVersionInformation version)
: base(GetErrorReason(version))
{
}
/// <summary>
/// Deserialize a scan head status packet from a raw byte stream.
/// </summary>
/// <exception cref="VersionCompatibilityException">Thrown if the scan head version
/// is incompatible with the client API</exception>"
/// <param name="buf"></param>
internal ScanHeadStatus(byte[] buf)
{
int idx = 0;
// The header and version data should never change to maintain backwards compatibility
Header = new PacketHeader
{
Magic = NetworkByteUnpacker.ExtractUShortFromNetworkBuffer(buf, ref idx),
Size = NetworkByteUnpacker.ExtractByteFromNetworkBuffer(buf, ref idx),
Type = (ScanPacketType)NetworkByteUnpacker.ExtractByteFromNetworkBuffer(buf, ref idx)
};
FirmwareVersion = new ScanHeadVersionInformation
{
Major = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx),
Minor = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx),
Patch = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx),
Commit = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx),
Product =
(ProductType)NetworkByteUnpacker.ExtractUShortFromNetworkBuffer(buf, ref idx),
Flags = NetworkByteUnpacker.ExtractUShortFromNetworkBuffer(buf, ref idx)
};
// Minor versions can be differ, but differences in
// major versions are considered to be incompatible
if (FirmwareVersion.Major != VersionInformation.Major)
{
throw new VersionCompatibilityException(FirmwareVersion);
}
// Static Data
ScanHeadSerialNumber = NetworkByteUnpacker.ExtractIntFromNetworkBuffer(buf, ref idx);
MaxScanRate = NetworkByteUnpacker.ExtractIntFromNetworkBuffer(buf, ref idx);
#pragma warning disable CS0618 // Type or member is obsolete
ScanHeadIPAddress = NetworkByteUnpacker.ExtractIPAddressFromNetworkBuffer(buf, ref idx);
#pragma warning restore CS0618 // Type or member is obsolete
ClientIPAddress = NetworkByteUnpacker.ExtractIPAddressFromNetworkBuffer(buf, ref idx);
ClientUdpPort = NetworkByteUnpacker.ExtractUShortFromNetworkBuffer(buf, ref idx);
ScanSyncID = NetworkByteUnpacker.ExtractUShortFromNetworkBuffer(buf, ref idx);
GlobalTime = NetworkByteUnpacker.ExtractLongFromNetworkBuffer(buf, ref idx);
NumPacketsSent = NetworkByteUnpacker.ExtractIntFromNetworkBuffer(buf, ref idx);
ProfilesSentCount = NetworkByteUnpacker.ExtractIntFromNetworkBuffer(buf, ref idx);
NumValidEncoders = NetworkByteUnpacker.ExtractByteFromNetworkBuffer(buf, ref idx);
NumValidCameras = NetworkByteUnpacker.ExtractByteFromNetworkBuffer(buf, ref idx);
Reserved0 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved1 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved2 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved3 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved4 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved5 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved6 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
Reserved7 = NetworkByteUnpacker.ExtractUIntFromNetworkBuffer(buf, ref idx);
// Variable Length Data
EncoderValues = new Dictionary <Encoder, long>(NumValidEncoders);
foreach (int i in Enumerable.Range(0, NumValidEncoders))
{
var encoder = (Encoder)Enum.ToObject(typeof(Encoder), i);
long encoderValue = NetworkByteUnpacker.ExtractLongFromNetworkBuffer(buf, ref idx);
EncoderValues.Add(encoder, encoderValue);
}
PixelsInWindow = new Dictionary <Camera, int>(NumValidCameras);
foreach (int i in Enumerable.Range(0, NumValidCameras))
{
var camera = (Camera)Enum.ToObject(typeof(Camera), i);
int pixels = NetworkByteUnpacker.ExtractIntFromNetworkBuffer(buf, ref idx);
PixelsInWindow.Add(camera, pixels);
}
Temperatures = new Dictionary <TemperatureSensor, float>(NumValidCameras);
foreach (int i in Enumerable.Range(0, NumValidCameras))
{
var temperatureSensor = (TemperatureSensor)Enum.ToObject(typeof(TemperatureSensor), i);
float temperature = NetworkByteUnpacker.ExtractFloatFromNetworkBuffer(buf, ref idx);
Temperatures.Add(temperatureSensor, temperature);
}
}