Method onDataReceived

src/rgb_packet_stream_parser.cpp:82–176

}

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

  // package containing data
  if(length > 0)
  {
    if(fb.length + length <= fb.capacity)
    {
      memcpy(fb.data + fb.length, buffer, length);
      fb.length += length;
    }
    else
    {
      LOG_INFO << "buffer overflow!";
      fb.length = 0;
      return;
    }

    // not enough data to do anything
    if (fb.length <= sizeof(RawRgbPacket) + sizeof(RgbPacketFooter))
      return;

    RgbPacketFooter* footer = reinterpret_cast<RgbPacketFooter *>(&fb.data[fb.length - sizeof(RgbPacketFooter)]);

    if (footer->magic_header == 0x39393939 && footer->magic_footer == 0x42424242)
    {
      RawRgbPacket *raw_packet = reinterpret_cast<RawRgbPacket *>(fb.data);

      if (fb.length != footer->packet_size || raw_packet->sequence != footer->sequence)
      {
        LOG_INFO << "packetsize or sequence doesn't match!";
        fb.length = 0;
        return;
      }

      if (fb.length - sizeof(RawRgbPacket) - sizeof(RgbPacketFooter) < footer->filler_length)
      {
        LOG_INFO << "not enough space for packet filler!";
        fb.length = 0;
        return;
      }

      size_t jpeg_length = 0;
      //check for JPEG EOI 0xff 0xd9 within 0 to 3 alignment bytes
      size_t length_no_filler = fb.length - sizeof(RawRgbPacket) - sizeof(RgbPacketFooter) - footer->filler_length;
      for (size_t i = 0; i < 4; i++)
      {
        if (length_no_filler < i + 2)
          break;
        size_t eoi = length_no_filler - i;

        if (raw_packet->jpeg_buffer[eoi - 2] == 0xff && raw_packet->jpeg_buffer[eoi - 1] == 0xd9)