private void HandleClientComm(object client)
{
TcpClient clientSocket = (TcpClient)client;
if (!blnServerRunning)
{
clientSocket.Close();
return;
}
// Obtain a stream object for reading and writing
NetworkStream clientStream = clientSocket.GetStream();
// Object via protocol buffer
while (true)
{
// Blocks until a client sends a message
Console.WriteLine("clientThread: working...");
//try
//{
// Get data over TCP
byte[] byteTrimmed = ProtoBuffer.TCPHandler.RecieveData(clientSocket, clientStream);
theForm.Invoke(theForm.dLogCallBack, new object[] { "Received path planning request over the network.\n\n" });
// Construct Path Planning Request object from byte array
PathPlanningRequest curRequest = ByteArrayToRequest(byteTrimmed);
// Add request to queue
theForm.Invoke(theForm.dSubmitToRequestQueueCallBack, new object[] {curRequest});
// Do the path planning
PathPlanningHandler newHandler = new PathPlanningHandler(curRequest);
newHandler.Run();
double curEfficiency = newHandler.GetAvgEfficiency();
double curRunTime = newHandler.GetAvgRunTime();
List<Point> curPath = newHandler.GetPath();
newHandler = null;
theForm.Invoke(theForm.dLogCallBack, new object[] { curRequest.GetLog() });
// Convert result to byte array
byte[] curE = BitConverter.GetBytes(curEfficiency);
byte[] curR = BitConverter.GetBytes(curRunTime);
// Convert to int array first
int[] temp = new int[curPath.Count * 2];
for (int i = 0; i < curPath.Count; i++)
{
temp[i * 2] = curPath[i].X;
temp[i * 2 + 1] = curPath[i].Y;
}
// Convert int array to byte array
byte[] curP = new byte[temp.Length * sizeof(int)];
Buffer.BlockCopy(temp, 0, curP, 0, curP.Length);
// Combine them together
byte[] result = new byte[curE.Length + curR.Length + curP.Length];
Array.Copy(curE, 0, result, 0, curE.Length);
Array.Copy(curR, 0, result, curE.Length, curR.Length);
Array.Copy(curP, 0, result, curE.Length + curR.Length, curP.Length);
byte[] outStream = ProtoBuffer.TCPHandler.AddDataSizeHeader(result);
// Remove request from queue
theForm.Invoke(theForm.dRemoveFromRequestQueueCallBack, new object[] { 0 });
// Send server reponse
clientStream.Write(outStream, 0, outStream.Length);
clientStream.Flush();
theForm.Invoke(theForm.dLogCallBack, new object[] { "Path length " + curPath.Count + " planning result sent back to client.\n\n" });
break;
//}
//catch (Exception e)
//{
// // A socket error has occured
// // theForm.Log(e.Message);
// System.Windows.Forms.MessageBox.Show(e.Message);
// break;
//}
}
clientStream.Close();
clientSocket.Close();
Console.WriteLine("clientThread: terminating gracefully.");
}
// Method to process path planning request queue
private void btnExecute_Click(object sender, EventArgs e)
{
// Eventually have a monitor thread initiate path planning tasks.
// For now, just call from here directly.
while (myServer.GetServerQueue().Count > 0)
{
// Do the path planning
PathPlanningHandler newHandler = new PathPlanningHandler(myServer.GetServerQueue()[0].GetRequest());
newHandler.Run();
newHandler = null;
// Log activities
Log("Path planning using " + myServer.GetServerQueue()[0].GetRequest().AlgToUse.ToString() +
" algorithm completed successfully.\n\n");
Log(myServer.GetServerQueue()[0].GetRequest().GetLog());
// TODO Send activity log back to TestModuleForm
// Remove it from server queue
myServer.GetServerQueue().RemoveAt(0);
// Remove it from listbox queue
lstQueue.Items.RemoveAt(0);
lstRequestQueue.RemoveAt(0);
}
}