public async Task asyncInitialize()
{
try
{
timeString = System.DateTime.Now.ToString("yy'_'M'_'dd'_'HH'_'mm");
var file = Path.Combine(DataFolder, "Hexapod_" + timeString + "_" + "sent.csv");
using (var sentCommands = new StreamWriter(file, true))
{
sentCommands.WriteLine("Record Time, Send Time, FN Code, FN Time, X, Y, Z, V, U, W, Receive Time, FN Code, FN Time, X, Y, Z, V, U, W");
sentCommands.Flush();
}
recorder = new Consumer <string>(RecordToFile);
var recorderTask = recorder.Start();
Connected = true;
udpHex = UDPHex.Connect(IPremote, UDPremote, IPlocal, UDPlocal);
// TODO: request a lot of info about the hexapod.
await recorderTask;
}
finally
{
recorder = null;
udpHex.Disconnect();
udpHex = null;
}
}
public static UDPHex Connect(
string IPremote = "192.168.15.255",
int UDPremote = 7408,
string IPlocal = "192.168.15.100",
int UDPlocal = 8410)
{
var connection = new UDPHex();
connection.mboxIPE = new IPEndPoint(IPAddress.Parse(IPremote), UDPremote); // Where it's going (the .255 indicates it's a broadcast!)
connection.localIPE = new IPEndPoint(IPAddress.Parse(IPlocal), UDPlocal); // Who we are (.100)
connection.udpClient = new UdpClient();
connection.udpClient.Client.Bind(connection.localIPE);
return(connection);
}