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@@ -34,7 +34,7 @@ public class SecondaryClient {
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return vm;
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}
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- public void readReply(CountDataInputStream di) throws IOException {
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+ public int readReply(CountDataInputStream di, boolean isSub) throws IOException {
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int beforeCount=di.getCount();
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int size = di.readInt(); //4
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int pType = di.readByte() & 0xff; //+1=5
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@@ -91,8 +91,6 @@ public class SecondaryClient {
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var tci=readToolCommInfo(di, size);
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log.info(tci.toString());
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break;
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-
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-
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default:
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log.warn("unknown ptype: "+pType+", size: "+size);
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byte[] pack=new byte[size-5];
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@@ -103,6 +101,7 @@ public class SecondaryClient {
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if(diff!=0) {
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log.warn("size mismatch: " +diff + "package type: "+pType);
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}
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+ return size;
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}
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private MasterBoardData readMasterBoardData(CountDataInputStream di, int size) throws IOException {
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@@ -164,15 +163,9 @@ public class SecondaryClient {
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}
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void readRobotState(CountDataInputStream di, int size) throws IOException {
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- long ts = di.readLong();
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- char source = (char) (di.readByte() & 0xFF);
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- char robotMessageType = (char) (di.readByte() & 0xFF);
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- switch (robotMessageType) {
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- default:
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- log.info("unknown msg: " + (int)robotMessageType);
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- byte[] buf = new byte[size - 10];
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- di.readFully(buf);
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- }
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+ int remaining=size-5;
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+ while(remaining>0)
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+ remaining-=readReply(di, true);
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}
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CartesianInfo readCartesianInfo(CountDataInputStream di, int size) throws IOException {
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@@ -229,6 +222,6 @@ public class SecondaryClient {
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}
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public void readPackage() throws IOException {
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- readReply(in);
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+ readReply(in, false);
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}
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}
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Martin Kunz