/// <summary>
/// udp dataを取り込む。
/// </summary>
public void set_udp_kv_data(byte[] bytes, ref KV_DATA kd)
{
GCHandle gch = GCHandle.Alloc(bytes, GCHandleType.Pinned);
kd = (KV_DATA)Marshal.PtrToStructure(gch.AddrOfPinnedObject(), typeof(KV_DATA));
gch.Free();
}
/// <summary>
/// MT3 dataの計算
/// </summary>
/// <remarks>
/// KV_DATA -> az,alt etcに変換
/// </remarks>
public void cal_mt3(KV_DATA kd)
{
//MT3
x2pos = (kd.xx2 << 16) + (kd.xx1 << 8) + kd.xx0; // <<16 ->256*256 <<8 ->256
y2pos = (kd.yy2 << 16) + (kd.yy1 << 8) + kd.yy0; // <<16 ->256*256 <<8 ->256
x2v = ((kd.v21 << 8) + kd.v20) << 6;
y2v = ((kd.v23 << 8) + kd.v22) << 6;
udp_time_code = EndianChange(kd.UdpTimeCode);
//MT2
xpos = ((kd.x1 << 8) + kd.x0) << 4; // <<16 ->256*256 <<8 ->256
ypos = ((kd.y1 << 8) + kd.y0) << 4; // <<16 ->256*256 <<8 ->256
x1v = ((kd.v11 << 8) + kd.v10) << 6;
y1v = ((kd.v13 << 8) + kd.v12) << 6;
/*
* kv_status = (UInt16)((kd.y3 << 8) + kd.y2); //KV1000 DM503
* data_request = (UInt16)((kd.x3 << 8) + kd.x2); //KV1000 DM499
* binStr_status = Convert.ToString(kv_status, 2);
* binStr_request = Convert.ToString(data_request, 2);
* Pos2AzAlt2();
*
* mt3mode = (short)((data_request & (1 << 4)) >> 4); //Set MT3Region(0=mmWest,1=mmEast)
* if ((int)(kv_status & (1 << 10)) != 0) vaz2_kv = +x2v / 1000.0; // MR106 on:+
* else vaz2_kv = -x2v / 1000.0;
* if ((int)(kv_status & (1 << 11)) != 0)
* { //mr107:Y2モータ回転方向
* if (mt3mode == mmEast) valt2_kv = -y2v / 1000.0;
* else valt2_kv = y2v / 1000.0;
* }
* else
* {
* if (mt3mode == mmEast) valt2_kv = y2v / 1000.0;
* else valt2_kv = -y2v / 1000.0;
* }
*
* mt3state_move_pre = mt3state_move;
* mt3state_truck_pre = mt3state_truck;
* mt3state_center_pre = mt3state_center;
* mt3state_night_pre = mt3state_night;
*
* mt3state_move = (kv_status & (1 << 12)); //導入中フラグ
* mt3state_truck = (kv_status & (1 << 13)); //追尾中フラグ
* mt3state_night = (kv_status & (1 << 14)); //夜間フラグ
* mt3state_center = (data_request & (1 << 2)); //センタリング中フラグ
*
* // truck開始時
* if (mt3state_truck_pre == 0 && mt3state_truck != 0) kalman_init_flag = 1;
*
* // センタリング中 完了時
* if (mt3state_center_pre != 0 && mt3state_center == 0) kalman_init_flag = 1;
*/
}
// 別スレッド処理（UDP） //IP 192.168.1.209
private void worker_udp_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = (BackgroundWorker)sender;
//バインドするローカルポート番号
int localPort = mmFsiUdpPortKV1000SpCam2; // 24410;// broadcast mmFsiUdpPortMT3IDS2;
System.Net.Sockets.UdpClient udpc4 = null;;
try
{
udpc4 = new System.Net.Sockets.UdpClient(localPort);
}
catch (Exception ex)
{
//匿名デリゲートで表示する
//this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
ShowRTextFW(ex.ToString());
}
//文字コードを指定する
System.Text.Encoding enc = System.Text.Encoding.UTF8;
//データを送信するリモートホストとポート番号
//string remoteHost = "localhost";
string remoteHost = "192.168.1.10"; // KV1000;
int remotePort = 8501;
string str;
MOTOR_DATA_KV_SP kmd3 = new MOTOR_DATA_KV_SP();
int size = Marshal.SizeOf(kmd3);
KV_DATA kd = new KV_DATA();
int sizekd = Marshal.SizeOf(kd);
// loop
System.Net.IPEndPoint remoteEP = new System.Net.IPEndPoint(System.Net.IPAddress.Any, localPort);
while (bw.CancellationPending == false)
{
//データを受信する
byte[] rcvBytes = udpc4.Receive(ref remoteEP);
if (remoteEP.Address.ToString() == remoteHost && remoteEP.Port == remotePort)
{
//kd = ToStruct1(rcvBytes);
//bw.ReportProgress(0, kd);
string rcvMsg = enc.GetString(rcvBytes);
str = DateTime.Now.ToString("yyyyMMdd_HHmmss_fff") + "受信したデータ:[" + rcvMsg + "]\n";
ShowRTextFW(str);
//this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
}
else
{
string rcvMsg = enc.GetString(rcvBytes);
str = DateTime.Now.ToString("yyyyMMdd_HHmmss_fff") + "送信元アドレス:{0}/ポート番号:{1}/Size:{2}\n" + remoteEP.Address + "/" + remoteEP.Port + "/" + rcvBytes.Length + "[" + rcvMsg + "]\n";
ShowRTextFW(str);
//this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
}
//データを送信する
if (cmd_str_f != 0)
{
//送信するデータを読み込む
string sendMsg = cmd_str + "\r";// "test送信するデータ";
byte[] sendBytes = enc.GetBytes(sendMsg);
//リモートホストを指定してデータを送信する
udpc4.Send(sendBytes, sendBytes.Length, remoteHost, remotePort);
cmd_str_f = 0;
}
}
//UDP接続を終了
udpc4.Close();
}