// Connect with the coordinator:
public void Connect()
{
const string rejectAlert = "Supervision rejected";
if (!CoordinatorForm.AreaDefined)
{
throw new Exception("You must define the area of operation first");
}
string message;
message = "Supervise me?";
SendMsg(message);
message = ReceiveMsg();
if (message != "I will")
{
throw new Exception(rejectAlert);
}
message = "";
foreach (var i in CoordinatorForm.Quadrants)
{
message += i.Item1 + ',' + i.Item2 + ';';
}
message = message.Remove(message.Length - 1); // Remove the last semicolon
SendMsg(message);
message = ReceiveMsg();
if (message != "Ok")
{
if (message == "Forget it")
{
throw new Exception(rejectAlert);
}
string[] quads = message.Split(';');
CoordinatorForm.Quadrants = new List <Tuple <double, double> >();
foreach (var i in quads)
{
string[] coords = i.Split(',');
CoordinatorForm.Quadrants.Add(new Tuple <double, double>(ParseDouble(coords[0]), ParseDouble(coords[1])));
}
CoordinatorForm.CompletelyRefreshGrid();
}
ConnectionThread = new Thread(new ThreadStart(() => Listen()));
ConnectionThread.Start();
_connected = true;
}
// Wait messages from the coordinator and obey:
private void Listen()
{
foreach (var i in CoordinatorForm.Connections)
{
if (!(i is Uav))
{
continue;
}
SendMission(i as Uav);
SendMissionStatus(i as Uav);
}
while (Connected)
{
string[] info = ReceiveMsg().Split(';');
if (info[0] == "Mission")
{
var uavInfo = info[1].Split(',');
var uav = GetUav(uavInfo);
var missionCode = info[2];
var fileName = Path.GetDirectoryName(Application.ExecutablePath) + @"\Missions\" + missionCode + uavInfo[0];
File.WriteAllText(fileName, info[3]);
CoordinatorForm.Invoke((MethodInvoker) delegate {
CoordinatorForm.LoadMission(uav, fileName, missionCode);
});
}
else if (info[0] == "Mission status")
{
var uav = GetUav(info[1].Split(','));
var missionCode = info[2];
var missionStatus = int.Parse(info[3]);
if (uav.MissionCode == missionCode)
{
uav.MissionStatus = missionStatus;
}
}
}
}
private Uav GetUav(string[] info)
{
return(CoordinatorForm.GetConnection(info[0], info[1], info[2], info[3] == "udp" ? 0 : 1) as Uav);
}