RoboidControl-csharp/ThingMsg.cs
2025-01-01 09:58:15 +01:00

86 lines
3.1 KiB
C#

namespace Passer.Control.Core {
public class ThingMsg : IMessage {
public const byte length = 5;
public const byte id = 0x80;
public byte networkId;
public byte thingId;
public byte thingType;
public byte parentId;
public ThingMsg(byte networkId, Thing thing) {
this.networkId = networkId;
this.thingId = thing.id;
this.thingType = thing.type;
this.parentId = thing.parent.id;
}
public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId) {
this.networkId = networkId;
this.thingId = thingId;
this.thingType = thingType;
this.parentId = parentId;
}
public ThingMsg(byte[] buffer) : base(buffer) { }
public override byte Serialize(ref byte[] buffer) {
byte ix = 0;
buffer[ix++] = ThingMsg.id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = this.thingType;
buffer[ix++] = this.parentId;
return ThingMsg.length;
}
public override void Deserialize(byte[] buffer) {
uint ix = 0;
this.networkId = buffer[ix++];
this.thingId = buffer[ix++];
this.thingType = buffer[ix++];
this.parentId = buffer[ix];
}
public static bool Send(Participant client, Thing thing) {
ThingMsg msg = new(thing.networkId, thing.id, thing.type, thing.parent.id);
return SendMsg(client, msg);
}
//public static bool Send(Client client, byte networkId, byte thingId, byte thingType, byte parentId)
//{
// ThingMsg msg = new(networkId, thingId, thingType, parentId);
// //UnityEngine.Debug.Log($"Send thing [{msg.networkId}/{msg.thingId}]");
// return SendMsg(client, msg);
//}
public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
ThingMsg msg = new(buffer);
//UnityEngine.Debug.Log($"Receive thing [{msg.networkId}/{msg.thingId}]");
// Do no process poses with nwid == 0 (== local)
//if (msg.networkId == 0)
// return true;
client.messageQueue.Enqueue(msg);
return true;
}
public static bool SendTo(Participant participant, Thing thing) {
if (participant == null || thing == null)
return false;
byte ix = 0;
participant.buffer[ix++] = ThingMsg.id;
participant.buffer[ix++] = participant.networkId;
participant.buffer[ix++] = thing.id;
participant.buffer[ix++] = thing.type;
if (thing.parent != null)
participant.buffer[ix++] = thing.parent.id;
else
participant.buffer[ix++] = 0;
return participant.SendBuffer(ix);
}
}
}