Method onDataReceived

src/depth_packet_stream_parser.cpp:64–167

}

void DepthPacketStreamParser::onDataReceived(unsigned char* buffer, size_t in_length)
{
  if (packet_.memory == NULL || packet_.memory->data == NULL)
  {
    LOG_ERROR << "Packet buffer is NULL";
    return;
  }
  Buffer &wb = work_buffer_;

  if(in_length == 0)
  {
    //synchronize to subpacket boundary
    wb.length = 0;
  }
  else
  {
    DepthSubPacketFooter *footer = 0;
    bool footer_found = false;

    if(wb.length + in_length == wb.capacity + sizeof(DepthSubPacketFooter))
    {
      in_length -= sizeof(DepthSubPacketFooter);
      footer = reinterpret_cast<DepthSubPacketFooter *>(&buffer[in_length]);
      footer_found = true;
    }

    if(wb.length + in_length > wb.capacity)
    {
      LOG_DEBUG << "subpacket too large";
      wb.length = 0;
      return;
    }

    memcpy(wb.data + wb.length, buffer, in_length);
    wb.length += in_length;

    if(footer_found)
    {
      if(footer->length != wb.length)
      {
        LOG_DEBUG << "image data too short!";
      }
      else
      {
        if(current_sequence_ != footer->sequence)
        {
          if(current_subsequence_ == 0x3ff)
          {
            if(processor_->ready())
            {
              DepthPacket &packet = packet_;
              packet.sequence = current_sequence_;
              packet.timestamp = footer->timestamp;
              packet.buffer = packet_.memory->data;
              packet.buffer_length = packet_.memory->capacity;

              processor_->process(packet);
              processor_->allocateBuffer(packet_, buffer_size_);