MERGE

7 files changed, 134 insertions, 9 deletions

diff --git a/Software/Visual_Studio/Tango.Transport/Adapters/TcpTransportAdapter.cs b/Software/Visual_Studio/Tango.Transport/Adapters/TcpTransportAdapter.cs
index 97757deac..1e897f85a 100644
--- a/Software/Visual_Studio/Tango.Transport/Adapters/TcpTransportAdapter.cs
+++ b/Software/Visual_Studio/Tango.Transport/Adapters/TcpTransportAdapter.cs
@@ -40,6 +40,7 @@ namespace Tango.Transport.Adapters
         /// </summary>
         public TcpTransportAdapter()
         {
+            AdapterMode = TransportAdapterMode.PREPEND_HEADER;
             Address = "127.0.0.1";
             Port = 9999;
         }
@@ -63,6 +64,7 @@ namespace Tango.Transport.Adapters
         {
             _initializedFromConstructor = true;
             _socket = socket;
+            SetSocketProperties();
         }
 
         #endregion
@@ -86,6 +88,7 @@ namespace Tango.Transport.Adapters
                         if (!_initializedFromConstructor)
                         {
                             _socket = new TcpClient(Address, Port);
+                            SetSocketProperties();
                         }
 
                         State = TransportComponentState.Connected;
@@ -137,6 +140,7 @@ namespace Tango.Transport.Adapters
 
             try
             {
+                data = PostProcessBuffer(data);
                 _socket.GetStream().Write(data, 0, data.Length);
             }
             catch (Exception ex)
@@ -157,11 +161,38 @@ namespace Tango.Transport.Adapters
             {
                 while (State == TransportComponentState.Connected)
                 {
-                    if (_socket.Available > 0)
+                    if (AdapterMode == TransportAdapterMode.NO_HEADER)
                     {
-                        byte[] data = new byte[_socket.Available];
-                        _socket.GetStream().Read(data, 0, data.Length);
-                        OnDataAvailable(data);
+                        if (_socket.Available > 0)
+                        {
+                            byte[] data = new byte[_socket.Available];
+                            _socket.GetStream().Read(data, 0, data.Length);
+                            OnDataAvailable(data);
+                        }
+                    }
+                    else
+                    {
+                        if (_socket.Available > 4)
+                        {
+                            byte[] size = new byte[4];
+                            _socket.GetStream().Read(size, 0, size.Length);
+                            int expectedSize = BitConverter.ToInt32(size, 0);
+
+                            byte[] data = new byte[expectedSize];
+
+                            while (_socket.Available < expectedSize)
+                            {
+                                Thread.Sleep(10);
+
+                                if (State != TransportComponentState.Connected)
+                                {
+                                    break;
+                                }
+                            }
+
+                            _socket.GetStream().Read(data, 0, data.Length);
+                            OnDataAvailable(data);
+                        }
                     }
 
                     Thread.Sleep(10);
@@ -191,7 +222,17 @@ namespace Tango.Transport.Adapters
             {
                 OnFailed(ex);
             }
-        } 
+        }
+
+        #endregion
+
+        #region Private Methods
+
+        private void SetSocketProperties()
+        {
+            _socket.SendBufferSize = MAX_BUFFER_SIZE;
+            _socket.ReceiveBufferSize = MAX_BUFFER_SIZE;
+        }
 
         #endregion
     }
diff --git a/Software/Visual_Studio/Tango.Transport/Adapters/UsbTransportAdapter.cs b/Software/Visual_Studio/Tango.Transport/Adapters/UsbTransportAdapter.cs
index 665f2d779..a97f55ee6 100644
--- a/Software/Visual_Studio/Tango.Transport/Adapters/UsbTransportAdapter.cs
+++ b/Software/Visual_Studio/Tango.Transport/Adapters/UsbTransportAdapter.cs
@@ -58,6 +58,8 @@ namespace Tango.Transport.Adapters
                         _serialPort = new SerialPort();
                         _serialPort.DataReceived += OnSerialPortDataReceived;
                         _serialPort.PortName = Address;
+                        _serialPort.ReadBufferSize = MAX_BUFFER_SIZE;
+                        _serialPort.WriteBufferSize = MAX_BUFFER_SIZE;
                         _serialPort.Open();
                         _serialPort.DiscardInBuffer();
                         _serialPort.DiscardOutBuffer();
@@ -118,6 +120,7 @@ namespace Tango.Transport.Adapters
 
             try
             {
+                data = PostProcessBuffer(data);
                 _serialPort.Write(data, 0, data.Length);
             }
             catch (Exception ex)
@@ -137,9 +140,37 @@ namespace Tango.Transport.Adapters
             {
                 if (e.EventType == SerialData.Eof) return;
                 Thread.Sleep(10);
-                byte[] data = new byte[_serialPort.BytesToRead];
-                _serialPort.Read(data, 0, data.Length);
-                OnDataAvailable(data);
+
+                if (AdapterMode == TransportAdapterMode.NO_HEADER)
+                {
+                    byte[] data = new byte[_serialPort.BytesToRead];
+                    _serialPort.Read(data, 0, data.Length);
+                    OnDataAvailable(data);
+                }
+                else
+                {
+                    if (_serialPort.BytesToRead > 4)
+                    {
+                        byte[] size = new byte[4];
+                         _serialPort.Read(size, 0, size.Length);
+                        int expectedSize = BitConverter.ToInt32(size, 0);
+
+                        byte[] data = new byte[expectedSize];
+
+                        while (_serialPort.BytesToRead < expectedSize)
+                        {
+                            Thread.Sleep(10);
+
+                            if (State != TransportComponentState.Connected)
+                            {
+                                break;
+                            }
+                        }
+
+                        _serialPort.Read(data, 0, data.Length);
+                        OnDataAvailable(data);
+                    }
+                }
             }
             catch (Exception ex)
             {
diff --git a/Software/Visual_Studio/Tango.Transport/ITransportAdapter.cs b/Software/Visual_Studio/Tango.Transport/ITransportAdapter.cs
index b0e055cde..5ab48e503 100644
--- a/Software/Visual_Studio/Tango.Transport/ITransportAdapter.cs
+++ b/Software/Visual_Studio/Tango.Transport/ITransportAdapter.cs
@@ -29,5 +29,10 @@ namespace Tango.Transport
         /// Gets or sets the channel address.
         /// </summary>
         String Address { get; set; }
+
+        /// <summary>
+        /// Gets or sets the adapter reading/writing mode.
+        /// </summary>
+        TransportAdapterMode AdapterMode { get; set; }
     }
 }
diff --git a/Software/Visual_Studio/Tango.Transport/Tango.Transport.csproj b/Software/Visual_Studio/Tango.Transport/Tango.Transport.csproj
index 7b0b1a121..8aea62da8 100644
--- a/Software/Visual_Studio/Tango.Transport/Tango.Transport.csproj
+++ b/Software/Visual_Studio/Tango.Transport/Tango.Transport.csproj
@@ -77,6 +77,7 @@
     <Compile Include="Servers\ClientConnectedEventArgs.cs" />
     <Compile Include="Servers\TcpServer.cs" />
     <Compile Include="TransportAdapterBase.cs" />
+    <Compile Include="TransportAdapterMode.cs" />
     <Compile Include="TransportComponentState.cs" />
     <Compile Include="TransporterBase.cs" />
     <Compile Include="Transporters\JsonTransporter.cs" />
diff --git a/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs b/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs
index 670ef20c3..04ecdc394 100644
--- a/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs
+++ b/Software/Visual_Studio/Tango.Transport/TransportAdapterBase.cs
@@ -13,6 +13,8 @@ namespace Tango.Transport
     /// <seealso cref="Tango.Transport.ITransportAdapter" />
     public abstract class TransportAdapterBase : ITransportAdapter
     {
+        protected const int MAX_BUFFER_SIZE = 1024 * 1024 * 10; //10 MB.
+
         #region Events
 
         /// <summary>
@@ -48,6 +50,11 @@ namespace Tango.Transport
             }
         }
 
+        /// <summary>
+        /// Gets or sets the adapter reading/writing mode.
+        /// </summary>
+        public TransportAdapterMode AdapterMode { get; set; }
+
         #endregion
 
         #region Virtual Methods
@@ -92,6 +99,23 @@ namespace Tango.Transport
             }
         }
 
+        /// <summary>
+        /// Applies any additional headers if required.
+        /// </summary>
+        /// <param name="data">The data.</param>
+        /// <returns></returns>
+        protected virtual byte[] PostProcessBuffer(byte[] data)
+        {
+            if (AdapterMode == TransportAdapterMode.NO_HEADER)
+            {
+                return data;
+            }
+            else
+            {
+                return BitConverter.GetBytes(data.Length).Concat(data).ToArray();
+            }
+        }
+
         #endregion
 
         #region Dispose
diff --git a/Software/Visual_Studio/Tango.Transport/TransportAdapterMode.cs b/Software/Visual_Studio/Tango.Transport/TransportAdapterMode.cs
new file mode 100644
index 000000000..e89eba38d
--- /dev/null
+++ b/Software/Visual_Studio/Tango.Transport/TransportAdapterMode.cs
@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Tango.Transport
+{
+    /// <summary>
+    /// Represents an <see cref="ITransportAdapter"/> read/write mode.
+    /// </summary>
+    public enum TransportAdapterMode
+    {
+        /// <summary>
+        /// Pure protobuf message with no message size.
+        /// </summary>
+        NO_HEADER,
+        /// <summary>
+        /// Prepends and truncates the message size before writing and reading.
+        /// </summary>
+        PREPEND_HEADER
+    }
+}
diff --git a/Software/Visual_Studio/Tango.Transport/TransporterBase.cs b/Software/Visual_Studio/Tango.Transport/TransporterBase.cs
index cf7c79864..b6f8ac529 100644
--- a/Software/Visual_Studio/Tango.Transport/TransporterBase.cs
+++ b/Software/Visual_Studio/Tango.Transport/TransporterBase.cs
@@ -300,7 +300,7 @@ namespace Tango.Transport
             {
                 if (!source.Task.IsCompleted)
                 {
-                    LogManager.Log("Request message: " + typeof(Response).Name + " had timed out after " + RequestTimeout.TotalSeconds + " seconds.");
+                    LogManager.Log("Request message: " + typeof(Request).Name + " had timed out after " + RequestTimeout.TotalSeconds + " seconds.");
                     LogManager.Log("Setting request task exception...");
                     source.SetException(new TimeoutException());
                 }