public void OnDataArrived(ICommunicationLayer layer, CommunicationData d)
{
foreach (var m in m_motorConnectors)
{
if (!m.Value.IsConnected())
{
continue;
}
foreach (var data in d.Data)
{
if (m.Value.GetSourceJoint() == data.name)
{
_listeners.ForEach(p => p.OnDataReceived(this, d.TargetName, m.Value.GetTargetJoint(), data.values));
}
}
}
}
public static void WriteData(CommunicationData d, Stream s)
{
BinaryWriter w = new BinaryWriter(s);
w.WriteStringNative(d.TargetName);
w.Write(d.Data.Count);
foreach (var v in d.Data)
{
w.WriteStringNative(v.name);
w.Write(v.values.Count);
foreach (var i in v.values)
{
w.Write(i.KinValue);
w.Write(i.RealtimeValue);
}
}
}
public static void ReadData(CommunicationData ret, Stream s)
{
BinaryReader r = new BinaryReader(s);
ret.ClearData();
ret.TargetName = r.ReadStringNative();
int cnt = r.ReadInt32();
for (int i = 0; i < cnt; ++i)
{
CommunicationData.DataPair d = new CommunicationData.DataPair();
d.name = r.ReadStringNative();
int v = r.ReadInt32();
for (int j = 0; j < v; ++j)
{
ControlInputValues cv = new ControlInputValues();
cv.KinValue = r.ReadSingle();
cv.RealtimeValue = r.ReadSingle();
d.values.Add(cv);
}
ret.AddData(d.name, d.values.ToArray());
}
}
