/// <summary>
/// Starts the TCP server asynchronously
/// </summary>
protected void BidirectionalConnectionTask()
{
if (!running || !autoReconnect)
{
return;
}
if (tcpServer == null)
{
ConfigureSockets();
}
if (tcpServer.Port != portIn)
{
ConfigureSockets();
}
while (!tcpServer.Started)
{
try
{
tcpServer.Port = portIn;
tcpServer.BufferSize = DEFAULT_BUFFER_SIZE;
tcpServer.Start();
//Console("TCP Server Started");
OnStatusChanged();
}
catch
{
//Console("Can not start Tcp Server");
Thread.Sleep(500);
}
}
}
public void Run()
{
/*
* Se inicia el SocketTcpServer.
*/
server.Start();
// Espero a que conecte
while (server.ClientsConnected == 0)
{
Thread.Sleep(10);
}
//Inicia timer
sw.Start();
/*
* Se crea la variable mediante
* create_var "variable|0"
*/
server.SendToAll("create_var \"odometryPos|0\"");
/*
* Realizo la suscripcion. Para el ejemplo no me interesa verificar lo
* que responde el Blackboard, pero todo llega a
* server_DataReceived(...)
* incluso la basura, y se imprime en pantalla.
*
* Nota que hay un error y dice "suscribe" en lugar de "subscribe".
* Esto cambiara en la siguiente version, por lo que puedes programar
* con "subscribe".
*/
server.SendToAll("suscribe_var \"localizerPos suscribe=writeany report=content\"");
/*
* La suscripcion es para la variable 'variable'
* reportando cuando cualquier modulo escriba y reportando todo
* el contenido de la variable.
*
* Ahora realizo 100 escrituras a intervalo de 100ms aprox.
* Se reporta el tiempo de demora.
*/
for (int i = 0; i < 100000; ++i)
{
// Se obtiene el valor a escribir en la variable en hex string
byte[] iData = BitConverter.GetBytes(i);
string sData = String.Empty;
for (int j = 0; j < iData.Length; ++j)
{
sData += iData[j].ToString("X2");
}
server.SendToAll("write_var \"odometryPos|0x" + sData + "\"");
Thread.Sleep(100);
}
server.Stop();
sw.Stop();
}
/// <summary>
/// Starts the Blackboard
/// </summary>
/// <returns></returns>
public void Start()
{
foreach (ModuleClient module in modules)
{
module.Start();
}
server.Start();
}
private void btnServerStart_Click(object sender, EventArgs e)
{
if (!server.Started)
{
try
{
int port;
if (!Int32.TryParse(txtServerPort.Text, out port))
{
MessageBox.Show("Invalid port", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
server.Port = port;
server.Start();
}
catch
{
return;
}
txtServerPort.AutoCompleteCustomSource.Add(txtServerPort.Text);
btnServerStart.Text = "Stop";
txtServerPort.Enabled = false;
txtServerInput.Enabled = true;
txtServerConsole.Enabled = true;
btnServerSend.Enabled = true;
}
else
{
try
{
server.Stop();
}
catch
{
return;
}
btnServerStart.Text = "Start";
txtServerPort.Enabled = true;
txtServerInput.Enabled = false;
txtServerConsole.Enabled = false;
btnServerSend.Enabled = false;
}
}
/// <summary>
/// Thread for start the Tcp Server and perform Module tasks
/// </summary>
private void MainThreadTask()
{
DateTime sendNextAliveTime = DateTime.Now;
Thread thisThread;
int i;
stopMainThread = false;
restartRequested = false;
restartTestRequested = false;
running = true;
Busy = true;
ExecuteStartupActions();
Busy = false;
#region First time connection
// This section is to allow to send the startup actions on first time connection.
while (running && !stopMainThread)
{
if (!server.Started)
{
if (stopMainThread)
{
break;
}
server.Start();
Thread.Sleep(100);
continue;
}
else
{
IsAlive = true;
break;
}
}
#region Send startup commands
for (i = 0; (i < startupActions.Count) && !stopMainThread; ++i)
{
if (startupActions[i].Type != ActionType.Send)
{
continue;
}
bool result = startupActions[i].Execute();
if (ActionExecuted != null)
{
ActionExecuted(this, startupActions[i], result);
}
}
#endregion
#endregion
while (running && !stopMainThread)
{
// Autoconnect (if disconnected)
#region Autoconnect
if (!server.Started)
{
if (stopMainThread)
{
break;
}
server.Start();
Thread.Sleep(10);
continue;
}
else
{
IsAlive = true;
}
#endregion
// Parse received data
ParsePendingData();
// Check if module is alive and responding
#region Check alive
CheckAlive(ref sendNextAliveTime);
#endregion
// Check if module is busy and has not hang
#region Check Busy
CheckBusy();
#endregion
// Performs additional actions
if (restartTestRequested)
{
DoRestartTest();
}
if (restartRequested)
{
DoRestartModule(); continue;
}
if (stopMainThread)
{
break;
}
Thread.Sleep(1);
}
Busy = true;
ExecuteStopActions();
if ((server != null) && server.Started)
{
try { server.Stop(); }
catch { }
}
running = false;
Busy = false;
if (Stopped != null)
{
Stopped(this);
}
if (StatusChanged != null)
{
StatusChanged(this);
}
#region Stop and Clear Thread
thisThread = mainThread;
mainThread = null;
thisThread.Abort();
thisThread.Join();
#endregion
}
