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Fix FleetCrabWalk startup synchronization

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This commit is contained in:
ruifeng.zhou
2026-07-04 16:05:11 +08:00
parent 8e3f276a24
commit da3d59972c
6 changed files with 151 additions and 89 deletions
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MultiWheel/MultiWheelC/VehicleSyncBinaryCodec.cs
+12 -8
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@@ -7,7 +7,7 @@ namespace MultiWheelC;
internal static class VehicleSyncBinaryCodec
{
private const byte Version = 1;
private const byte Version = 2;
private const byte RegisterType = 1;
private const byte NotificationType = 2;
private static readonly byte[] Magic = Encoding.ASCII.GetBytes("MVS1");
@@ -27,9 +27,9 @@ internal static class VehicleSyncBinaryCodec
{
using var stream = new MemoryStream(payload ?? throw new ArgumentNullException(nameof(payload)));
using var reader = new BinaryReader(stream, Encoding.UTF8);
ReadHeader(reader, RegisterType);
var version = ReadHeader(reader, RegisterType);
var carNum = reader.ReadInt32();
var info = ReadInfo(reader);
var info = ReadInfo(reader, version);
EnsureFullyRead(stream);
return (carNum, info);
}
@@ -88,7 +88,7 @@ internal static class VehicleSyncBinaryCodec
{
using var stream = new MemoryStream(payload ?? throw new ArgumentNullException(nameof(payload)));
using var reader = new BinaryReader(stream, Encoding.UTF8);
ReadHeader(reader, NotificationType);
var version = ReadHeader(reader, NotificationType);
var notification = new VehicleSyncNotification
{
@@ -129,7 +129,7 @@ internal static class VehicleSyncBinaryCodec
for (var i = 0; i < fleetCount; ++i)
{
var carNum = reader.ReadInt32();
notification.Fleet[carNum] = ReadInfo(reader);
notification.Fleet[carNum] = ReadInfo(reader, version);
}
EnsureFullyRead(stream);
@@ -144,7 +144,7 @@ internal static class VehicleSyncBinaryCodec
writer.Write((ushort)0);
}
private static void ReadHeader(BinaryReader reader, byte expectedType)
private static byte ReadHeader(BinaryReader reader, byte expectedType)
{
for (var i = 0; i < Magic.Length; ++i)
{
@@ -153,7 +153,7 @@ internal static class VehicleSyncBinaryCodec
}
var version = reader.ReadByte();
if (version != Version)
if (version < 1 || version > Version)
throw new InvalidDataException($"Unsupported multi-vehicle sync binary version {version}.");
var type = reader.ReadByte();
@@ -163,6 +163,8 @@ internal static class VehicleSyncBinaryCodec
var reserved = reader.ReadUInt16();
if (reserved != 0)
throw new InvalidDataException("Invalid multi-vehicle sync binary reserved field.");
return version;
}
private static void WriteInfo(BinaryWriter writer, VehicleSyncInfo info)
@@ -178,9 +180,10 @@ internal static class VehicleSyncBinaryCodec
writer.Write(info.LayoutTh);
WriteString(writer, info.MotionInfeasibleReason);
WriteString(writer, info.RotateWheelAlignDetail);
writer.Write(info.AppliedNotificationSeq);
}
private static VehicleSyncInfo ReadInfo(BinaryReader reader)
private static VehicleSyncInfo ReadInfo(BinaryReader reader, byte version)
{
var info = new VehicleSyncInfo();
ApplyInfoFlags(info, reader.ReadUInt16());
@@ -194,6 +197,7 @@ internal static class VehicleSyncBinaryCodec
info.LayoutTh = reader.ReadSingle();
info.MotionInfeasibleReason = ReadString(reader);
info.RotateWheelAlignDetail = ReadString(reader);
info.AppliedNotificationSeq = version >= 2 ? reader.ReadInt64() : -1;
return info;
}