RoboidControl-csharp/Messages.cs

using System.Collections.Generic;
using System.Collections.Concurrent;
using System.IO;
using System.Net.Sockets;
using System.Threading.Tasks;

namespace Passer.Control
{
	public partial class Client
	{
		//public ConnectionMethod connection;
		public UdpClient udpClient;
		public string ipAddress;
		public int port;

		public byte networkId;

		public readonly ConcurrentQueue<IMessage> messageQueue = new();

		public static Client GetClient(string ipAddress, int port)
		{
			foreach (Client c in clients)
			{
				if (c.ipAddress == ipAddress && c.port == port)
					return c;
			}
			return null;
		}
		static public List<Client> clients = new List<Client>();

		public static Client NewClient()
		{
			Client client = new();
			clients.Add(client);
			client.networkId = 0;

			return client;
		}

		public static Client NewUDPClient(UdpClient udpClient, string ipAddress, int port)
		{
			Client client = NewClient();
			client.ipAddress = null;
			client.port = port;
			client.udpClient = udpClient;
			return client;
		}
	}

	public class IMessage
	{
		public IMessage() { }
		public IMessage(byte[] data)
		{
			Deserialize(data);
		}

		public virtual byte[] Serialize() { return null; }
		public virtual void Deserialize(byte[] data) { }

		public static bool SendMsg(Client client, IMessage msg)
		{
			return SendMsg(client, msg.Serialize());
		}
		public static bool SendMsg(Client client, byte[] data)
		{
			if (client == null || client.ipAddress == null)
				return false;

			client.udpClient.Send(data, data.Length, client.ipAddress, client.port);
			return true;
		}
		public static async Task<byte[]> Receive(Stream dataStream, byte packetSize)
		{
			byte[] buffer = new byte[packetSize - 1]; //  without msgId
			int byteCount = dataStream.Read(buffer, 0, packetSize - 1);
			while (byteCount < packetSize - 1)
			{
				// not all bytes have been read, wait and try again
				await Task.Delay(1);
				byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount);
			}
			return buffer;
		}
	}

	#region Client

	public class ClientMsg : IMessage
	{
		public const byte Id = 0xA0;
		public const byte length = 2;
		public byte clientId;

		public ClientMsg(byte[] data) : base(data) { }
		public override void Deserialize(byte[] data)
		{
			base.Deserialize(data);
			uint ix = 0;
			clientId = data[ix++];
		}

		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			if (packetSize != length)
				return false;

			byte[] buffer = await Receive(dataStream, packetSize);
			ClientMsg msg = new(buffer);

			if (client.networkId == 0)
			{
				client.networkId = (byte)(Client.clients.Count);
				NetworkIdMsg.Send(client);
				//if (string.IsNullOrEmpty(sceneUrl) == false)
				//SendModelUrl(client, sceneUrl);
			}
			else if (msg.clientId == 0)
			{
				NetworkIdMsg.Send(client);
				//if (string.IsNullOrEmpty(sceneUrl) == false)
				//SendModelUrl(client, sceneUrl);
			}

			return true;
		}
	}

	#endregion Client

	#region Network Id

	public class NetworkIdMsg : IMessage
	{
		public const byte Id = 0xA1;
		public const byte length = 2;

		public static bool Send(Client client)
		{
			byte[] data = new byte[NetworkIdMsg.length];
			data[0] = NetworkIdMsg.Id;
			data[1] = client.networkId;
			return SendMsg(client, data);
		}
	}

	#endregion Network Id

	#region Thing

	public class ThingMsg : IMessage
	{
		public const byte length = 4;
		public const byte Id = 0x80;
		public byte thingId;
		public byte thingType;
		public byte parentId;

		public ThingMsg(byte[] data) : base(data) { }
		public override void Deserialize(byte[] data)
		{
			uint ix = 0;
			thingId = data[ix++];
			thingType = data[ix++];
			parentId = data[ix];
		}

		public static bool Send(Client client, byte networkId, byte thingId, byte thingType)
		{
			byte[] data = new byte[4];
			data[0] = ThingMsg.Id;
			data[1] = networkId;
			data[2] = thingId;
			data[3] = thingType;
			data[4] = 0x00; // parent not supported yet
			return SendMsg(client, data);
		}
		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			if (packetSize != length)
				return false;

			byte[] buffer = await Receive(dataStream, packetSize);
			ThingMsg msg = new(buffer);

			client.messageQueue.Enqueue(msg);
			return true;
		}
	}

	#endregion Thing

	#region Name

	public class NameMsg : IMessage
	{
		public byte networkId = 0;
		public byte objectId;
		public byte len;
		public string name;

		public NameMsg(byte[] data) : base(data) { }
		public override void Deserialize(byte[] data)
		{
			uint ix = 0;
			this.objectId = data[ix++];
			int strlen = data[ix++];
			this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
		}

		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			byte[] buffer = await Receive(dataStream, packetSize);
			NameMsg msg = new(buffer);

			client.messageQueue.Enqueue(msg);
			return true;
		}
	}

	#endregion

	#region Model URL

	public class ModelUrlMsg : IMessage
	{
		public const byte Id = 0x90; // (144) Model URL
		public byte objectId;
		public Spherical position;
		public float scale;
		public string url;

		public ModelUrlMsg(string url, float scale = 1)
		{
			this.url = url;
			this.scale = scale;
			this.position = Spherical.zero;
		}
		public ModelUrlMsg(byte[] data) : base(data) { }

		public override byte[] Serialize()
		{
			byte[] data = new byte[this.url.Length + 9];
			data[0] = ModelUrlMsg.Id;
			data[1] = 0x00; // Thing Id
							// data[2]..[5] == position 0, 0, 0
			data[6] = 0x3C; // Dummy float16 value 1
			data[7] = 0x00;

			data[8] = (byte)url.Length;
			for (int ix = 0; ix < this.url.Length; ix++)
				data[9 + ix] = (byte)url[ix];
			return data;
		}
		public override void Deserialize(byte[] data)
		{
			uint ix = 0;
			this.objectId = data[ix++];
			this.position = LowLevelMessages.ReceiveSpherical(data, ref ix);
			this.scale = LowLevelMessages.ReceiveFloat16(data, ref ix);
			int strlen = data[ix++];
			url = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
		}

		public static bool Send(Client client, string modelUrl)
		{
			ModelUrlMsg msg = new(modelUrl);
			return SendMsg(client, msg);
		}
		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			byte[] buffer = await Receive(dataStream, packetSize);
			ModelUrlMsg msg = new(buffer);
			client.messageQueue.Enqueue(msg);
			return true;
		}
	}

	#endregion Model URL

	#region Pose

	public class PoseMsg : IMessage
	{
		public const byte Id = 0x10;
		public const byte length = 3 + 4 + 4;
		public byte thingId;
		public byte poseType;

		public Spherical position;
		public Quat32 orientation;

		public PoseMsg(byte[] data) : base(data) { }

		public override void Deserialize(byte[] data)
		{
			uint ix = 0;
			thingId = data[ix++];
			poseType = data[ix++];

			//if ((poseType & Pose_Position) != 0)
			position = LowLevelMessages.ReceiveSpherical(data, ref ix);
			//if ((poseType & Pose_Orientation) != 0) {
			orientation = LowLevelMessages.ReceiveQuat32(data, ref ix);
		}

		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			if (packetSize != length)
				return false;

			byte[] buffer = await Receive(dataStream, packetSize);
			PoseMsg msg = new(buffer);

			client.messageQueue.Enqueue(msg);
			return true;

		}
	}

	#endregion Pose

	#region Bytes

	public class BytesMsg : IMessage
	{
		public const byte Id = 0xB1;
		public byte networkId;
		public byte thingId;
		public byte[] bytes;

		public BytesMsg(byte[] data) : base(data) { }
		public BytesMsg(byte networkId, byte thingId, byte[] bytes) : base()
		{
			this.networkId = networkId;
			this.thingId = thingId;
			this.bytes = bytes;
		}
		public override byte[] Serialize()
		{
			byte[] buffer = new byte[4 + this.bytes.Length];
			int ix = 0;
			buffer[ix++] = BytesMsg.Id;
			buffer[ix++] = this.networkId;
			buffer[ix++] = this.thingId;
			buffer[ix++] = (byte)bytes.Length;
			foreach (byte b in bytes)
				buffer[ix++] = b;

			return buffer;
		}
		public override void Deserialize(byte[] data)
		{
			//this.bytes = data;
			uint ix = 0;
			this.thingId = data[ix++];
			this.bytes = new byte[data.Length - ix];
			for (uint bytesIx = 0; ix < data.Length; ix++, bytesIx++)
				this.bytes[bytesIx] = data[ix];
		}


		public static void Send(Client client, byte thingId, byte[] bytes)
		{
			BytesMsg msg = new(client.networkId, thingId, bytes);
			SendMsg(client, msg);
		}

		// received bytes
		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			byte[] buffer = await Receive(dataStream, packetSize);
			BytesMsg msg = new(buffer);
			client.messageQueue.Enqueue(msg);
			return true;
		}
	}

	#endregion Bytes

	#region Destroy

	public class DestroyMsg : IMessage
	{
		public const byte length = 2;
		public byte objectId;

		public DestroyMsg(byte[] data) : base(data) { }

		public override void Deserialize(byte[] data)
		{
			objectId = data[0];
		}

		public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize)
		{
			if (packetSize != length)
				return false;

			byte[] buffer = await Receive(dataStream, packetSize);
			DestroyMsg msg = new(buffer);

			client.messageQueue.Enqueue(msg);
			return true;
		}
	}


	#endregion Destroy
}