public void Constate2(int windowID)
{
if (GUI.Button(new Rect(10, 20, 150, 25), "OK"))
{
Debug.Log("TSB_Close");
s = false;
//isGet = false;
if (myThread != null)
{
SocketApp.isRun = false;
if (myThread.IsAlive)
{
SocketApp.CloseAll();
//TCP_Handler.tcpClose();
//printall("no Loacal IP");
//SocketApp.acceptDone.Set();
}
Thread.Sleep(100);
myThread.Abort();
Debug.Log("Abort");
}
//if (SocketApp.transMode == (int)SocketApp.Transfer_Mode.M_UDP)
// SocketApp.CloseAll();
stop = false;
sensornumber = "";
SocketApp.TCP_clientList.Clear();
}
// Make the windows be draggable.
GUI.DragWindow(new Rect(0, 0, 10000, 10000));
}
private void btnDescargar_Click(object sender, EventArgs e)
{
try
{
showSpinner(true);
Usuarios usuario = new Usuarios();
usuario.id = 3;
SocketApp socketApp = new SocketApp(hostServidor, 5656, usuario);
//para q actualize cuando envie todo
//socketApp.dataGridViewArchivos = dataGridViewArchivos;
// socketApp.progresSpinnerLoad = ProgresSpinnerLoad;
//archivoSElect.id = 79;
//archivoSElect = LNArchivos.Instance.ListarId(archivoSElect);
//Console.WriteLine(archivoSElect.nombre);
socketApp.progresSpinnerLoad = ProgresSpinnerLoad;
socketApp.descargarArchivo(archivoSelected.nombre, ubicacionSave);
//activeBtnDetails(false);
}
catch (Exception ex)
{
showSpinner(false);
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
public override void RunSocket()
{
try {
SocketApp.Bind(IpEndPoint);
Console.WriteLine("Server started. Connected..");
while (true)
{
StringBuilder builder = new StringBuilder();
int bytes = 0;
byte[] data = new byte[256];
EndPoint remoteIp = new IPEndPoint(IPAddress.Any, 0);
do
{
bytes = SocketApp.ReceiveFrom(data, ref remoteIp);
builder.Append(Encoding.Unicode.GetString(data, 0, bytes));
} while (SocketApp.Available > 0);
IPEndPoint remoteFullIp = remoteIp as IPEndPoint;
Console.WriteLine("{0}:{1} - {2}", remoteFullIp.Address.ToString(),
remoteFullIp.Port, builder.ToString());
}
}
catch (Exception ex) {
Console.WriteLine(ex.Message);
}
finally {
Close();
}
}
public override void RunSocket()
{
try {
SocketApp.Bind(IpEndPoint);
SocketApp.Listen(10);
Console.WriteLine("Server started. Connected..");
while (true)
{
Socket handler = SocketApp.Accept();
StringBuilder builder = new StringBuilder();
int bytes = 0;
byte[] data = new byte[256];
do
{
bytes = handler.Receive(data);
builder.Append(Encoding.Unicode.GetString(data, 0, bytes));
} while (handler.Available > 0);
Console.WriteLine(DateTime.Now.ToShortTimeString() + ": " + builder);
string messageResponse = "Meessage send.";
data = Encoding.Unicode.GetBytes(messageResponse);
handler.Send(data);
handler.Shutdown(SocketShutdown.Both);
handler.Close();
}
}
catch (Exception ex) {
Console.WriteLine(ex.Message);
}
}
public void AttachSocket(SocketApp socket)
{
if (!this.listSocketApp.Contains(socket))
{
this.listSocketApp.Add(socket);
}
}
//selecciona el dirrectorio del archivo
private void archivoToolStripMenuItem_Click(object sender, EventArgs e)
{
try
{
OpenFileDialog openFile = new OpenFileDialog();
showSpinner(true);
if (openFile.ShowDialog() == DialogResult.OK)
{//directorio del archivo a enviar
string nombreFile = CopyFile(openFile.FileName, openFile.SafeFileName);
Console.WriteLine(nombreFile);
SocketApp socketApp = new SocketApp(hostServidor, 5656, usuario);
//para q actualize cuando envie todo
socketApp.dataGridViewArchivos = dataGridViewArchivos;
socketApp.progresSpinnerLoad = ProgresSpinnerLoad;
socketApp.InitSocketEnviar(nombreFile, usuario.id);
//InitSocket(nombreFile);
// CargarDatos(usuario);
// showSpinner(false);
activeBtnDetails(false);
ShowDetailsBorrar();
}
else
{
showSpinner(false);
}
}
catch (Exception ex)
{
showSpinner(false);
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
public void DettachSocket(SocketApp socket)
{
if (this.listSocketApp.Contains(socket))
{
this.listSocketApp.Remove(socket);
}
}
public void OFF()//關閉連線(OFF)
{
Debug.Log("TSB_Stop");
string msg = "#stop$";
SocketApp.SendAll(msg);// do things
Debug.Log("send_stop");
stop = true;
}
public Counter(Waiter waiter1, Waiter waiter2, SocketApp socket)
{
CommandeEnvoie = new List <CommandePaquet>();
CommandeReçu = new List <CommandePaquet>();
materialEnvoie = new List <MaterialPaquet>();
materialRecu = new List <MaterialPaquet>();
AttachServeur(waiter1);
AttachServeur(waiter2);
AttachSocket(socket);
}
public void Constate1(int windowID)
{
if (GUI.Button(new Rect(10, 20, 150, 25), "OK"))
{
s = true;
Debug.Log("TSB_Activate");
string msg = "#send$";
SocketApp.SendAll(msg); // do things
Debug.Log("send_activate");
open = false;
}
// Make the windows be draggable.
GUI.DragWindow(new Rect(0, 0, 10000, 10000));
}
public static void Initial()
{
LocalIP = SocketApp.getLocalNetworkIP();
if (LocalIP == "")
{
//MessageBox.Show("錯誤! 沒有取得任何IP!! 請檢查網路連線...");
while (true)
{
;
}
}
//huangting
//myForm.Invoke(new UpdateLableHandler(myForm.printIP), LocalIP);
IPEndPoint localEndPoint = new IPEndPoint(IPAddress.Parse(LocalIP), PortNumber);
Server = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
SocketApp._Server = Server;
//
Server.Bind(localEndPoint);
Server.Listen(10); //指定最大連接數
//to test if the client is disconnected
//Server.IOControl(IOControlCode.KeepAliveValues, KeepAlive(1, 1000, 1000), null);
while (isInitial)
{
try
{
//=============Asynchronous architecture===============================
while (SocketApp.isRun)
{
SocketApp.acceptDone.Reset();
showMsg = "Waiting for a connecting...\n";
//huangting
//myForm.Invoke(new UpdateLableHandler(myForm.printDialog), showMsg);
Server.BeginAccept(new AsyncCallback(AcceptCallback), Server);
SocketApp.acceptDone.WaitOne();
}
}
catch (ThreadAbortException e)
{
//huangting
//MessageBox.Show(e.ToString());
}
finally
{
}
}
}
private void button1_Click(object sender, EventArgs e)
{
Usuarios usuario = new Usuarios();
usuario.id = 3;
SocketApp socketApp = new SocketApp("127.0.0.1", 5656, usuario);
//para q actualize cuando envie todo
//socketApp.dataGridViewArchivos = dataGridViewArchivos;
// socketApp.progresSpinnerLoad = ProgresSpinnerLoad;
Archivos archivoSElect = new Archivos();
archivoSElect.id = 79;
archivoSElect = LNArchivos.Instance.ListarId(archivoSElect);
//Console.WriteLine(archivoSElect.nombre);
// socketApp.descargarArchivo(archivoSElect.nombre);
}
public static void AcceptCallback(IAsyncResult ar)
{
// Get the socket that handles the client request.
Socket listener = (Socket)ar.AsyncState;
try
{
if (listener != null)
{
Socket client = listener.EndAccept(ar);
client.ReceiveTimeout = 200;
SocketApp.addClient(client);
//clientList.Add(client);
showMsg = "CONNECTED!\n";
//huangting
//myForm.Invoke(new UpdateLableHandler(myForm.printDialog), showMsg);
showClientName();
// Signal the main thread to continue.
SocketApp.acceptDone.Set();
// Create the state object.
StateObject state = new StateObject();
state.workSocket = client;
client.BeginReceive(state.buffer, 0, StateObject.BufferSize, 0,
out state.errorcode, new AsyncCallback(ReceiveCallback), state);
}
}
catch (ObjectDisposedException e)
{
//do nothing
}
catch (Exception e)
{
//huangting
//MessageBox.Show(e.ToString());
}
}
void OnGUI()
{
//(x位置, y位置, x長度, y長度)
///////////////////////////////////////BUTTON///////////////////////////////////////
GUI.Box(new Rect(10, 10, 200, 500), "Button");
///////////////////////////////連線部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(20, 30, 180, 100), "連線:");
GUI.color = Color.white;
if (GUI.Button(new Rect(40, 60, 70, 50), "ON"))//開始連線(ON)
{
Debug.Log("TSB_Open");
FileInfo.loadSettingFile();
Debug.Log("TSB_Start");
myThread = new Thread(new ThreadStart(ServerProcess));
myThread.IsBackground = true;
myThread.Start();
open = true;
}
if (SocketApp.TCP_clientList.Count == 3 && open == true)//確定3顆都連線
{
GUI.color = Color.green;
windowCon = GUI.Window(0, windowCon, Constate1, "System Connected!");
GUI.color = Color.white;
//StartCoroutine("Activate");//註解比較穩定
}
if (GUI.Button(new Rect(115, 60, 70, 50), "OFF"))//關閉連線(OFF)
{
Debug.Log("TSB_Stop");
string msg = "#stop$";
SocketApp.SendAll(msg);// do things
Debug.Log("send_stop");
stop = true;
}
if (stop == true)
{
GUI.color = Color.red;
windowCon = GUI.Window(0, windowCon, Constate2, "System Disconnected?");
GUI.color = Color.white;
}
///////////////////////////////讀存檔部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(20, 140, 180, 70), "軌跡紀錄:");
GUI.color = Color.white;
if (GUI.Button(new Rect(55, 170, 50, 20), "Save"))//存檔
{
savedataflag = true;
datastate = "Save";
Debug.Log("save data!!");
}
if (GUI.Button(new Rect(110, 170, 50, 20), "Load"))//讀檔
{
loaddataflag = true;
datastate = "Load";
Debug.Log("load data!!");
}
///////////////////////////////遊戲部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(20, 220, 180, 90), "遊戲模式:");
GUI.color = Color.white;
if (GUI.Button(new Rect(30, 250, 50, 20), "Mode1"))//模式1
{
Time.timeScale = 1;
mode_flag = 1;
time_b = true;
time_f = 0;
}
if (GUI.Button(new Rect(85, 250, 50, 20), "Mode2"))//模式2
{
Time.timeScale = 2;
mode_flag = 2;
time_b = true;
time_f = 0;
}
if (GUI.Button(new Rect(140, 250, 50, 20), "Mode3"))//模式3
{
Time.timeScale = 3;
mode_flag = 3;
time_b = true;
time_f = 0;
}
if (gameState == GameState.lost)
{
GUI.color = Color.red;
windowWon = GUI.Window(0, windowWon, Gamestate, "You Lost!");
GUI.color = Color.white;
}
if (gameState == GameState.won)
{
GUI.color = Color.green;
windowLost = GUI.Window(1, windowLost, Gamestate, "You Won!");
GUI.color = Color.white;
}
///////////////////////////////系統部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(20, 320, 180, 90), "系統相關:");
GUI.color = Color.white;
if (GUI.Button(new Rect(40, 350, 70, 20), "Play"))//開始
{
StartCoroutine(down());
}
if (GUI.Button(new Rect(115, 350, 70, 20), "Pause"))//暫停
{
Time.timeScale = 0;
}
if (GUI.Button(new Rect(40, 380, 70, 20), "Continue"))//繼續
{
Time.timeScale = 1;
}
if (GUI.Button(new Rect(115, 380, 70, 20), "Restart"))//重整
{
Debug.Log("Restart");
SocketApp.TCP_clientList.Clear();
Application.LoadLevel(Application.loadedLevel);
}
///////////////////////////////////////DATA///////////////////////////////////////
GUI.Box(new Rect(Screen.width - 110, 10, 100, 500), "Data");
///////////////////////////////系統部分///////////////////////////////
GUI.color = Color.green;
GUI.Label(new Rect(Screen.width - 100, 30, 50, 20), "時間:");
GUI.color = Color.white;
switch (mode_flag)
{
case 1:
GUI.TextField(new Rect(Screen.width - 100, 50, 85, 20), "Times: " + (int)time_f / 60 + "m" + (int)time_f % 60 + "s");
break;
case 2:
GUI.TextField(new Rect(Screen.width - 100, 50, 85, 20), "Times: " + (int)time_f / 2 / 60 + "m" + (int)time_f / 2 % 60 + "s");
break;
case 3:
GUI.TextField(new Rect(Screen.width - 100, 50, 85, 20), "Times: " + (int)time_f / 3 / 60 + "m" + (int)time_f / 3 % 60 + "s");
break;
}
GUI.color = Color.green;
GUI.Label(new Rect(Screen.width - 100, 70, 50, 20), "角度:");
GUI.color = Color.white;
GUI.TextField(new Rect(Screen.width - 100, 90, 85, 20), "Pitch: " + TCP_Handler.pitch.ToString("0.000"));
GUI.TextField(new Rect(Screen.width - 100, 110, 85, 20), "Roll: " + TCP_Handler.roll.ToString("0.000"));
GUI.TextField(new Rect(Screen.width - 100, 130, 85, 20), "Yaw: " + TCP_Handler.yaw.ToString("0.000"));
///////////////////////////////連線部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(Screen.width - 105, 160, 90, 110), "連線狀況:");
GUI.color = Color.white;
GUI.Label(new Rect(Screen.width - 95, 180, 85, 20), "Sensors:");
if (TCP_Handler.SID_List.Count > 0)
{
foreach (int ID in TCP_Handler.SID_List)
{
//Debug.Log("sensor ID: " + ID);
sensornumber += ID.ToString();
sensornumber += " ";
}
TCP_Handler.SID_List.Clear();
}
GUI.TextField(new Rect(Screen.width - 102, 200, 85, 20), sensornumber);
GUI.Label(new Rect(Screen.width - 95, 220, 85, 20), "Numbers:");
GUI.TextField(new Rect(Screen.width - 102, 240, 85, 20), SocketApp.TCP_clientList.Count.ToString());
if (TCP_Handler.sensor_num_ID.Count > 0 && s == true)//activate後傳值的數量
{
foreach (int ID in TCP_Handler.sensor_num_ID)
{
Debug.Log("sensor ID: " + ID);
}
}
///////////////////////////////讀存檔部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(Screen.width - 105, 280, 90, 60), "檔案結果:");
GUI.color = Color.white;
GUI.TextField(new Rect(Screen.width - 102, 310, 85, 20), datastate);
///////////////////////////////遊戲部分///////////////////////////////
GUI.color = Color.green;
GUI.Box(new Rect(Screen.width - 105, 350, 90, 80), "遊戲分數:");
GUI.color = Color.white;
GUI.Label(new Rect(Screen.width - 100, 370, 85, 20), "Found gems:");
GUI.TextField(new Rect(Screen.width - 102, 390, 85, 20), foundGems + "/" + totalGems);
guiNumber.fontSize = 200;
guiNumber.normal.textColor = Color.red;
if (countdownText != "")
{
GUI.Label(new Rect((Screen.width - 100) / 2 - 100, (Screen.height - 30) / 2, 100, 30), countdownText, guiNumber);
}
}
public RoomModel()
{
SocketApp socket = new SocketApp();
personnel = new List <Sprite>();
objects = new List <Sprite>();
//Instanciation des objects de la salle et affecté à une liste pour la vue
//Instanciation du personnel de la salle et affecté à une liste pour la vue
Waiter serveur1;
Waiter serveur2;
HostMaster maitreHotel;
chefRang1 = new RankLeader();
chefRang2 = new RankLeader();
this.CreationTable();
serveur1 = new Waiter(Carre1, Carre2);
serveur2 = new Waiter(Carre1, Carre2);
maitreHotel = new HostMaster(chefRang1, chefRang2, Carre1, Carre2);
this.CreationMenu();
counter = new Counter(serveur1, serveur2, socket);
SocketListener.Counter = counter;
RankLeader.Counter = counter;
Waiter.Counter = counter;
personnel.Add(maitreHotel.Sprite);
personnel.Add(serveur1.Sprite);
personnel.Add(serveur2.Sprite);
personnel.Add(chefRang1.Sprite);
personnel.Add(chefRang2.Sprite);
Thread.Sleep(1000);
Console.WriteLine("Le nombre de personel est de :" + personnel.Count);
Console.WriteLine("Instanciation du Model sans problèmes \n \n");
Thread.Sleep(2000);
ListGroupe = new List <GroupClient>();
Thread.Sleep(2000);
Thread GenGrpClient = new Thread(() => RdmGenClient(maitreHotel, serveur1, serveur2));
GenGrpClient.Start();
// this.CreateCustomers();
// Thread th = new Thread(() => test(serveur2, maitreHotel));
// th.Start();
//}
//public void test(Waiter serveur2, HostMaster maitreHotel)
//{
// serveur2.Sprite.Move(maitreHotel.Sprite.PositionX, maitreHotel.Sprite.PositionY);
}
public KitchenModel()
{
personnel = new List <Sprite>();
objects = new List <Sprite>();
Desk kitchenDesk = new Desk();
Sink kitchenSink = new Sink();
HeatingPlate plaque1 = new HeatingPlate();
HeatingPlate plaque2 = new HeatingPlate();
HeatingPlate plaque3 = new HeatingPlate();
Dishwasher laveVaisselle = new Dishwasher();
LaundryMachine laveLinge = new LaundryMachine();
DishesStock stockVaisselle = new DishesStock();
DirtyDishesStock stockVaiselleSale = new DirtyDishesStock();
Fridge kitchenFridge = new Fridge();
KitchenMaterialStock kitchenMaterialStock = new KitchenMaterialStock();
IngredientStock kitchenIngredientStock = new IngredientStock();
objects.Add(kitchenDesk.Sprite);
objects.Add(kitchenSink.Sprite);
objects.Add(plaque1.Sprite);
objects.Add(plaque2.Sprite);
objects.Add(plaque3.Sprite);
objects.Add(laveVaisselle.Sprite);
objects.Add(laveLinge.Sprite);
objects.Add(stockVaisselle.Sprite);
objects.Add(stockVaiselleSale.Sprite);
objects.Add(kitchenFridge.Sprite);
objects.Add(kitchenMaterialStock.Sprite);
objects.Add(kitchenIngredientStock.Sprite);
Plunger plongeur = new Plunger(kitchenDesk, stockVaiselleSale, stockVaisselle, laveVaisselle, laveLinge, kitchenSink);
Clerk commis1 = new Clerk(kitchenMaterialStock, kitchenIngredientStock, kitchenFridge, kitchenSink, "GabinCuisto");
Clerk commis2 = new Clerk(kitchenMaterialStock, kitchenIngredientStock, kitchenFridge, kitchenSink, "MaxCuisto");
Cooker cuisinier1 = new Cooker(commis1, commis2, kitchenMaterialStock, kitchenIngredientStock, kitchenFridge, "BenjaminCuisto");
Cooker cuisinier2 = new Cooker(commis1, commis2, kitchenMaterialStock, kitchenIngredientStock, kitchenFridge, "PirminCuisto");
Chef chef = new Chef(cuisinier1, cuisinier2, kitchenDesk);
personnel.Add(chef.Sprite);
personnel.Add(cuisinier1.Sprite);
personnel.Add(cuisinier2.Sprite);
personnel.Add(commis1.Sprite);
personnel.Add(commis2.Sprite);
personnel.Add(plongeur.Sprite);
socket = new SocketApp();
SocketListener.kitchenDesk = kitchenDesk;
// Ajouter des abonnés observer à l'observable Comptoir
kitchenDesk.AttachChef(chef);
kitchenDesk.AttachPlunger(plongeur);
kitchenDesk.AttachSocket(socket);
//// Créations des Ingrédients
//Ingredient steak = new Ingredient("Steak", "Viande");
//Ingredient poulet = new Ingredient("Poulet", "Viande");
//Ingredient poisson = new Ingredient("Poisson", "Poisson");
//Ingredient pain = new Ingredient("Pain", "Pain");
//Ingredient salade = new Ingredient("Salade", "Vegetables");
//Ingredient tomate = new Ingredient("Tomate", "Vegetables");
//Ingredient oignon = new Ingredient("Oignon", "Vegetables");
//Ingredient cheddar = new Ingredient("Cheddar", "Frommage");
//Ingredient raclette = new Ingredient("Raclette", "Fromage");
//Ingredient sauce = new Ingredient("Sauce", "Sauce");
//// Instanciation Object Cuisine Material
//KitchenKnife kitchenKnife = new KitchenKnife();
//Pans kitchenCasserolle = new Pans();
//Stove kitchenPoêle = new Stove();
//WoodenSpoon kitchenCuillière = new WoodenSpoon();
//SaladBowl kitchenBolSalade = new SaladBowl();
//// Creation des etapes des recettes
//RecipeStep prepareSteak = new RecipeStep("Cuire le Steak", 10);
//prepareSteak.IngredientQuantities.Add(new IngredientQuantity(1, steak));
//prepareSteak.ListUstencils.Add(kitchenPoêle);
//RecipeStep preparePoulet = new RecipeStep("Cuire le Poulet", 10);
//preparePoulet.IngredientQuantities.Add(new IngredientQuantity(1, poulet));
//preparePoulet.ListUstencils.Add(kitchenPoêle);
//RecipeStep preparePoisson = new RecipeStep("Cuire le Poisson", 10);
//preparePoisson.IngredientQuantities.Add(new IngredientQuantity(1, poisson));
//preparePoisson.ListUstencils.Add(kitchenPoêle);
//RecipeStep prepareVegetables = new RecipeStep("Preparer les légumes", 5);
//prepareVegetables.IngredientQuantities.Add(new IngredientQuantity(1, salade));
//prepareVegetables.IngredientQuantities.Add(new IngredientQuantity(2, tomate));
//prepareVegetables.IngredientQuantities.Add(new IngredientQuantity(1, oignon));
//prepareVegetables.ListUstencils.Add(kitchenBolSalade);
//prepareVegetables.ListUstencils.Add(kitchenCuillière);
//prepareVegetables.ListUstencils.Add(kitchenKnife);
//RecipeStep prepareRaclette = new RecipeStep("Préparer le frommage à Raclette", 5);
//prepareRaclette.IngredientQuantities.Add(new IngredientQuantity(2, raclette));
//prepareRaclette.ListUstencils.Add(kitchenKnife);
//RecipeStep prepareCheddar = new RecipeStep("Préparer le Cheddar", 5);
//prepareCheddar.IngredientQuantities.Add(new IngredientQuantity(2, cheddar));
//prepareCheddar.ListUstencils.Add(kitchenKnife);
//RecipeStep assemblerBurger = new RecipeStep("Assembler le Burger", 5);
//assemblerBurger.IngredientQuantities.Add(new IngredientQuantity(1, pain));
//assemblerBurger.IngredientQuantities.Add(new IngredientQuantity(1, sauce));
//// Creations des plats
//Dish burgerClassic = new Dish(1, "Burger Classique");
//burgerClassic.Recipe.Add(prepareSteak);
//burgerClassic.Recipe.Add(prepareVegetables);
//burgerClassic.Recipe.Add(prepareCheddar);
//burgerClassic.Recipe.Add(assemblerBurger);
//Dish burgerChicken = new Dish(2, "Burger Poulet");
//burgerChicken.Recipe.Add(preparePoulet);
//burgerChicken.Recipe.Add(prepareVegetables);
//burgerChicken.Recipe.Add(prepareCheddar);
//burgerChicken.Recipe.Add(assemblerBurger);
//Dish burgerMountain = new Dish(3, "Burger Montagnard");
//burgerMountain.Recipe.Add(prepareSteak);
//burgerMountain.Recipe.Add(prepareVegetables);
//burgerMountain.Recipe.Add(prepareCheddar);
//burgerMountain.Recipe.Add(assemblerBurger);
//Dish burgerVegan = new Dish(4, "Burger Vegan");
//burgerVegan.Recipe.Add(preparePoisson);
//burgerVegan.Recipe.Add(prepareVegetables);
//burgerVegan.Recipe.Add(prepareCheddar);
//burgerVegan.Recipe.Add(prepareRaclette);
//burgerVegan.Recipe.Add(assemblerBurger);
DomainApp domainApp = new DomainApp();
Console.WriteLine("Instanciation du Controller sans problèmes");
}
void OnGUI()
{
GUILayout.Label("pitch: " + TCP_Handler.pitch.ToString("0.00"));
GUILayout.Label("roll: " + TCP_Handler.roll.ToString("0.00"));
GUILayout.Label("yaw: " + TCP_Handler.yaw.ToString("0.00"));
GUILayout.Label("Times: " + (int)time_f / 60 + "m" + (int)time_f % 60 + "s");
GUILayout.Label("connected number: " + SocketApp.TCP_clientList.Count);
/*if (GUILayout.Button(TSB_Open, GUILayout.Height(50), GUILayout.Width(50)))//測試按鍵改成圖片用
* {
* Debug.Log("TSB_Open");
* FileInfo.loadSettingFile();
* }*/
if (GUILayout.Button("TSB_Open"))//開啟
{
Debug.Log("TSB_Open");
FileInfo.loadSettingFile();
}
if (GUILayout.Button("TSB_Start"))//開始
{
Debug.Log("TSB_Start");
myThread = new Thread(new ThreadStart(ServerProcess));
myThread.IsBackground = true;
myThread.Start();
}
GUI.color = Color.gray;
if (GUILayout.Button("TSB_CLose"))//關閉
{
s = false;
//isGet = false;
if (myThread != null)
{
SocketApp.isRun = false;
if (myThread.IsAlive)
{
SocketApp.CloseAll();
TCP_Handler.tcpClose();
//printall("no Loacal IP");
SocketApp.acceptDone.Set();
}
Thread.Sleep(100);
myThread.Abort();
}
if (SocketApp.transMode == (int)SocketApp.Transfer_Mode.M_UDP)
{
SocketApp.CloseAll();
}
}
GUI.color = Color.white;
if (GUILayout.Button("TSB_Activate"))//啟動連線
{
s = true;
Debug.Log("TSB_Activate");
string msg = "#send$";
SocketApp.SendAll(msg); // do things
Debug.Log("send_activate");
//StartCoroutine("Activate");//註解比較穩定
}
GUI.color = Color.gray;
if (GUILayout.Button("TSB_Stop"))//暫停
{
s = false;
Debug.Log("TSB_Stop");
string msg = "#stop$";
SocketApp.SendAll(msg); // do things
Debug.Log("send_stop");
}
if (GUILayout.Button("Restart")) //整個專案重新開始
{
Debug.Log("Restart");
SocketApp.TCP_clientList.Clear();
Application.LoadLevel(Application.loadedLevel);
}
GUI.color = Color.white;
GUILayout.Label("");
GUILayout.Label("connected sensors: ");
if (TCP_Handler.SID_List.Count > 0)
{
foreach (int ID in TCP_Handler.SID_List)
{
//Debug.Log("sensor ID: " + ID);
sensornumber += ID.ToString();
sensornumber += " ";
}
TCP_Handler.SID_List.Clear();
}
GUILayout.Label(sensornumber); //目前連線的sensor
if (TCP_Handler.sensor_num_ID.Count > 0 && s == true) //activate後傳值的數量
{
foreach (int ID in TCP_Handler.sensor_num_ID)
{
Debug.Log("sensor ID: " + ID);
}
}
}
public static void ReceiveCallback(IAsyncResult ar)
{
String Gimbal_content = String.Empty;
String content = String.Empty;
List <byte> data = new List <byte>();
double[] data_f = new double[9];
double[] data_9axis = new double[9];
double[] acc = new double[3];
double[] gyr = new double[3];
double[] mag = new double[3];
int deviceID, SN;
// Retrieve the state object and the handler socket
// from the asynchronous state object.
StateObject state = (StateObject)ar.AsyncState;
Socket handler = state.workSocket;
try
{
// Read data from the client socket.
int bytesRead = handler.EndReceive(ar);
if (bytesRead > 0)
{
for (int i = 0; i <= bytesRead - 27; i++)
{
if (state.buffer[i] == 35 && state.buffer[i + 1] == 222 && state.buffer[i + 2] == 233 &&
state.buffer[i + 24] == 233 && state.buffer[i + 25] == 222 && state.buffer[i + 26] == 36)
{
//Get the data from packet
for (int index = i + 3; index <= i + 23; index++)
{
data.Add(state.buffer[index]);
}
if (!state.IDchecked)
{
deviceID = data[0];
SID_List.Add(deviceID);
sensor_num_ID.Add(deviceID);
state.IDchecked = true;
Sensors[deviceID] = new IMU();
//System.Diagnostics.Debug.Print("idchecked");
}
else
{
count++;
//myForm.Invoke(new UpdateLableHandler(myForm.printRemsg), count.ToString());
//System.Diagnostics.Debug.Print("Thread ID: ");
//System.Diagnostics.Debug.Print(Thread.CurrentThread.ManagedThreadId.ToString());
deviceID = data[0]; //packetData[3]
SN = (data[1] << 8 | data[2]);
//Gyro
gyr[0] = (short)(data[3] << 8 | data[4]);
gyr[1] = (short)(data[5] << 8 | data[6]);
gyr[2] = (short)(data[7] << 8 | data[8]);
//Acc
acc[0] = (short)(data[9] << 8 | data[10]);
acc[1] = (short)(data[11] << 8 | data[12]);
acc[2] = (short)(data[13] << 8 | data[14]);
//Mag
mag[0] = (short)(data[15] << 8 | data[16]);
mag[1] = (short)(data[17] << 8 | data[18]);
mag[2] = (short)(data[19] << 8 | data[20]);
// (""+ gyr[0]+" " +gyr[1]+" "+ gyr[2]);
// TCP_Handler.pitch = acc[0];
// TCP_Handler.roll = acc[1];
// TCP_Handler.yaw = acc[2];
double degree = 0;
double temp = 0;
int range = 0;
if (count == 1)
{
Gimbaloffset_flag_Y = true;
Gimbaloffset_flag_R = true;
Gimbaloffset_flag_P = true;
}
switch (deviceID) //看哪個sensor
{
case 11: //yaw
temp = acc[0]; //磁角值(原本是加速度值，但韌體封包改成是磁角值，因為磁角的值只有一個)
range = 1006; //0`1006(理論上0~3.3V，值為0~1023，但可變電阻是人工的，無法精準，所以可能調到0~3.2V，值為0~1006，每顆都不一樣)
count_yaw++;
yaw_status = count_yaw;
if (Gimbaloffset_flag_Y)
{
yawoffset = temp / range * 360; //初始值
Gimbaloffset_flag_Y = false; //設立flag使他只讀一次
}
degree = temp / range * 360 - yawoffset;
if (degree >= 180) //限制在-180~180度
{
degree -= 360;
}
else if (degree < -180)
{
degree += 360;
}
TCP_Handler.yaw = Math.Abs(degree) > 1 ? degree : 0;
break;
case 12: //roll
temp = acc[0];
range = 1013;
count_roll++;
roll_status = count_roll;
if (Gimbaloffset_flag_R)
{
rolloffset = temp / range * 360;
Gimbaloffset_flag_R = false;
}
degree = temp / range * 360 - rolloffset;
if (degree >= 180)
{
degree -= 360;
}
else if (degree < -180)
{
degree += 360;
}
TCP_Handler.roll = Math.Abs(degree) > 1 ? degree : 0;
break;
case 13: //pitch
temp = acc[0];
range = 1005;
count_pitch++;
pitch_status = count_pitch;
if (Gimbaloffset_flag_P)
{
pitchoffset = temp / range * 360;
Gimbaloffset_flag_P = false;
}
degree = temp / range * 360 - pitchoffset;
if (degree >= 180)
{
degree -= 360;
}
else if (degree < -180)
{
degree += 360;
}
TCP_Handler.pitch = Math.Abs(degree) > 1 ? degree : 0;
break;
}
//System.Diagnostics.Debug.Print(gyr[0].ToString() + " " + gyr[1].ToString() + " " + gyr[2].ToString());
//System.Diagnostics.Debug.Print(acc[0].ToString() + " " + acc[1].ToString() + " " + acc[2].ToString());
//System.Diagnostics.Debug.Print(mag[0].ToString() + " " + mag[1].ToString() + " " + mag[2].ToString());
//System.Diagnostics.Debug.Print("========");
//Raw data tranformation (calculate the ture value)
/*******************/
// n = mag.Length
// for (int i = 0 ;i< n;i++)
/*******************/
Sensors[deviceID].SN = SN;
//System.Diagnostics.Debug.Print("SN: " + SN.ToString());
// Write the data to file
//data_f = Sensors[deviceID].data_f;
//content += SN + "\t";
//content += deviceID + "\t";
Gimbal_content += SN + "\t";
Gimbal_content += deviceID + "\t";
Gimbal_content += degree + "\t";
//Debug.Print("my parameter G:{0},Q:{1},A:{2}", IMU.gyr_gf[0, 0], IMU.Q[0, 0], IMU.acc_gf[0, 0]);
string filename = foldername + "Sensor" + deviceID.ToString() + ".txt";
StreamWriter sw = new StreamWriter(filename, true);
sw.WriteLine(Gimbal_content);
sw.Close();
}
}
else
{
content = "";
Gimbal_content = "";
//WritetoFile(content, 1);
data.Clear();
}
}
#region original method to get the data
//for (int i = bytesRead - 1; i >= 26; i--)
// {
// //Decode the packet received from client
// if (state.buffer[i] == 36 && state.buffer[i - 1] == 222 && state.buffer[i - 2] == 233 &&
// state.buffer[i - 24] == 233 && state.buffer[i - 25] == 222 && state.buffer[i - 26] == 35)
// {
// //Get the data from packet
// for (int index = i - 23; index <= i - 3; index++)
// data.Add(state.buffer[index]);
// if (!state.IDchecked)
// {
// deviceID = data[0];
// MR_Term.SID_List.Add(deviceID);
// state.IDchecked = true;
// MR_Term.Sensors[deviceID] = new IMU();
// System.Diagnostics.Debug.Print("idchecked");
// }
// else
// {
// count++;
// //myForm.Invoke(new UpdateLableHandler(myForm.printRemsg), count.ToString());
// //System.Diagnostics.Debug.Print("Thread ID: ");
// //System.Diagnostics.Debug.Print(Thread.CurrentThread.ManagedThreadId.ToString());
// deviceID = data[0];
// SN = (data[1] << 8 | data[2]);
// //Gyro
// gyr[0] = (short)(data[3] << 8 | data[4]);
// gyr[1] = (short)(data[5] << 8 | data[6]);
// gyr[2] = (short)(data[7] << 8 | data[8]);
// //Acc
// acc[0] = (short)(data[9] << 8 | data[10]);
// acc[1] = (short)(data[11] << 8 | data[12]);
// acc[2] = (short)(data[13] << 8 | data[14]);
// //Mag
// mag[0] = (short)(data[15] << 8 | data[16]);
// mag[1] = (short)(data[17] << 8 | data[18]);
// mag[2] = (short)(data[19] << 8 | data[20]);
// //Raw data tranformation (calculate the ture value)
// for (int n = 0; n < 3; n++)
// {
// acc[n] = MR_Term.Sensors[deviceID].calcAcc(acc[n]);
// gyr[n] = MR_Term.Sensors[deviceID].calcGyro(gyr[n]);
// mag[n] = MR_Term.Sensors[deviceID].calcMag(mag[n]);
// }
// for (int n = 0; n < 3; n++)
// {
// MR_Term.Sensors[deviceID].data_9axis[n] = acc[n];
// MR_Term.Sensors[deviceID].data_9axis[n + 3] = gyr[n];
// MR_Term.Sensors[deviceID].data_9axis[n + 6] = mag[n];
// }
// ++MR_Term.Sensors[deviceID].indexInChart;
// MR_Term.Sensors[deviceID].SN = SN;
// MR_Term.Sensors[deviceID].data_f = MR_Term.Sensors[deviceID].MovingAverage_life(acc, gyr, mag);
// switch (MR_Term.Mode)
// {
// case MR_Term.Operation_Mode.M_Demo:
// //====================Demo Mode==========================
// #region Demo mode
// if (MR_Term.Sensors[deviceID].indexInChart < 10)
// {
// for (int t = 0; t < 9; t++)
// MR_Term.Sensors[deviceID].data4IniAtt[t].Add(MR_Term.Sensors[deviceID].data_f[t]);
// System.Diagnostics.Debug.Print("Att1");
// }
// else if (MR_Term.Sensors[deviceID].indexInChart == 10)
// {
// for (int t = 0; t < 9; t++)
// MR_Term.Sensors[deviceID].DataAve[t] = IMU.mean(MR_Term.Sensors[deviceID].data4IniAtt[t]);
// MR_Term.Sensors[deviceID].q = MR_Term.Sensors[deviceID].initial_attitude(MR_Term.Sensors[deviceID].DataAve);
// MR_Term.Sensors[deviceID].mag_ref[0] = MR_Term.Sensors[deviceID].DataAve[6];
// MR_Term.Sensors[deviceID].mag_ref[1] = MR_Term.Sensors[deviceID].DataAve[7];
// MR_Term.Sensors[deviceID].mag_ref[2] = MR_Term.Sensors[deviceID].DataAve[8];
// //System.Diagnostics.Debug.Print(MR_Term.Sensors[deviceID].q[0].ToString() + " " + MR_Term.Sensors[deviceID].q[1].ToString() + " " + MR_Term.Sensors[deviceID].q[2].ToString() + " " + MR_Term.Sensors[deviceID].q[3].ToString());
// //System.Diagnostics.Debug.Print("Att2");
// }
// else
// {
// MR_Term.Sensors[deviceID].q = MR_Term.Sensors[deviceID].EKF_cal(MR_Term.Sensors[deviceID].data_f, 0.02);
// MR_Term.Sensors[deviceID].eul = MR_Term.Sensors[deviceID].getEular(MR_Term.Sensors[deviceID].q);
// MR_Term.Sensors[deviceID].q_out = MR_Term.Sensors[deviceID].getQout(MR_Term.Sensors[deviceID].eul);
// //MR_Term.Sensors[deviceID].eul = MR_Term.Sensors[deviceID].qua2eul(MR_Term.Sensors[deviceID].q);
// //System.Diagnostics.Debug.Print(deviceID.ToString() + ": " + MR_Term.Sensors[deviceID].eul[0].ToString() + " " + MR_Term.Sensors[deviceID].eul[1].ToString() + " " + MR_Term.Sensors[deviceID].eul[2].ToString());
// //System.Diagnostics.Debug.Print("Att3");
// }
// #endregion
// break;
// case MR_Term.Operation_Mode.M_Record:
// //====================Record Mode==========================
// #region Record Mode
// #endregion
// break;
// case MR_Term.Operation_Mode.M_Calibartion:
// //====================Calibration Mode==========================
// #region
// #endregion
// break;
// }
// //StopTime = DateTime.Now;
// //ts = StopTime - StartTime;
// //myForm.Invoke(new UpdateLableHandler(myForm.printTime), ts.ToString());
// if (deviceID == MR_Term.n_SID)
// MR_Term.isGet = true;
// // Write the data to file
// data_f = MR_Term.Sensors[deviceID].data_f;
// content += SN + "\t";
// content += deviceID + "\t";
// foreach (double d in data_f)
// {
// content += Math.Round(d, 4) + "\t";
// }
// foreach (double e in MR_Term.Sensors[deviceID].eul)
// {
// content += Math.Round(e, 2) + "\t";
// }
// string filename = foldername + "tdata" + deviceID.ToString() + ".txt";
// StreamWriter sw = new StreamWriter(filename, true);
// sw.WriteLine(content);
// sw.Close();
// }
// }
// else
// {
// content = "";
// //WritetoFile(content, 1);
// data.Clear();
// }
// }
#endregion
#region another receive method
//for (int i = 0; i < bytesRead; i++)
//{
// switch(state.buffer[i])
// {
// case 35: //'#'
// start_flag = true;
// break;
// case 36: //'$'
// count++;
// if (start_flag == true && data.Count == 21)
// {
// deviceID = data[0];
// SN = (short)(data[1] << 8 | data[2]);
// Acc_x = (short)(data[3] << 8 | data[4]);
// Acc_y = (short)(data[5] << 8 | data[6]);
// Acc_z = (short)(data[7] << 8 | data[8]);
// Gyro_x = (short)(data[9] << 8 | data[10]);
// Gyro_y = (short)(data[11] << 8 | data[12]);
// Gyro_z = (short)(data[13] << 8 | data[14]);
// Mag_x = (short)(data[15] << 8 | data[16]);
// Mag_y = (short)(data[17] << 8 | data[18]);
// Mag_z = (short)(data[19] << 8 | data[20]);
// content = deviceID + "\t" + SN + "\t" + Acc_x + "\t" + Acc_y + "\t" + Acc_z + "\t" + Gyro_x + "\t" +
// Gyro_y + "\t" + Gyro_z + "\t" + Mag_x + "\t" + Mag_y + "\t" + Mag_z;
// //WritetoFile(content, deviceID);
// string filename = foldername + "tdata" + deviceID.ToString() + ".txt";
// StreamWriter sww = new StreamWriter(filename, true);
// sww.WriteLine(content);
// //sww.Flush();
// sww.Close();
// }
// else
// {
// start_flag = false;
// content = "";
// //WritetoFile(content);
// data.Clear();
// }
// myForm.Invoke( new UpdateLableHandler(myForm.printRemsg), count.ToString() );
// break;
// default:
// if (start_flag == true)
// data.Add(state.buffer[i]);
// break;
// }
//}
#endregion
}
//continue to receive next data
if (SocketApp.isRun)
{
handler.BeginReceive(state.buffer, 0, StateObject.BufferSize, 0,
out state.errorcode, new AsyncCallback(ReceiveCallback), state);
}
}
catch (ObjectDisposedException e)
{
//MessageBox.Show(e.ToString());
//do nothing
}
catch (SocketException e)
{
if (SocketApp.isRun)
{
SocketApp.removeClient(handler.RemoteEndPoint);
showClientName();
}
handler.Disconnect(true);
//handler.Shutdown(SocketShutdown.Both);
//handler.Close();
}
finally
{
}
}
