private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
try
{
if (tstartMissonPlannerConn != null)
{
tstartMissonPlannerConn.Abort();
Thread.Sleep(100);
tstartMissonPlannerConn = null;
}
closeThread(tstartMissonPlannerConn);
closeThread(tstartmyServerConn);
closeThread(tstartTrimaresConn);
closeThread(tstartExoReadings);
closeThread(Treadings);
UDPComm.oktoReceive = false;
if (MissionPlannerServer != null)
{
MissionPlannerServer.Close();
MissionPlannerServer = null;
}
if (TrimaresServer != null)
{
TrimaresServer.Close();
TrimaresServer = null;
}
if (TCPClientConn != null)
{
CloseStream(TCPClientConn.mydata.myLink.BaseStream);
TCPClientConn = null;
}
if (TCPMavLinkClient != null)
{
TCPMavLinkClient = null;
}
if (TCPClientData != null)
{
TCPClientData = null;
}
if (TrimaresUDPServerConn != null)
{
CloseStream(TrimaresUDPServerConn.mydata.myLink.BaseStream);
TrimaresUDPServerConn = null;
}
if (TrimaresUDPServerData != null)
TrimaresUDPServerData = null;
if (TrimaresUDPMavLinkServer != null)
TrimaresUDPMavLinkServer = null;
foreach (Process p in System.Diagnostics.Process.GetProcessesByName("AP_Mavlink_router.exe"))
{
p.Kill();
p.WaitForExit();
}
}
catch
{
Application.ExitThread();
Application.Exit();
}
Application.ExitThread();
Application.Exit();
}
/// <summary>
/// inicializa comunicacao do router com o trimares
/// </summary>
private void startTrimaresConn()
{
try
{
TrimaresServer = new MAVcomm.Comms.UdpSerialServer();
TrimaresServer.HostIP = tx_udpIP.Text;
TrimaresServer.Port = tx_udpport.Text;
TrimaresServer.newMsg += TrimaresUDP_PacketReceived;
TrimaresServer.Open();
TrimaresServer.rMessage += showMessages;
//TrimaresUDPServerData = new MainCrossData();
//TrimaresUDPServerConn = new MavLinkConnection("UDPSERVER", ref TrimaresUDPServerData);
//TrimaresUDPServerConn.mydata.setMavlinkPointer(ref TrimaresUDPMavLinkServer);
//TrimaresUDPServerConn.mydata.myLink.BaseStream.HostIP = tx_udpIP.Text;
//TrimaresUDPServerConn.mydata.myLink.BaseStream.Port = tx_udpport.Text;
//TrimaresUDPServerConn.PacketReceived += TrimaresUDP_PacketReceived;
//TrimaresUDPServerConn.mydata.myLink.BaseStream.Open();
//TrimaresUDPServerConn.mydata.myLink.BaseStream.rMessage += showMessages;
}
catch
{
TrimaresServer.Close();
TrimaresServer = null;
TrimaresUDPMavLinkServer = null;
TrimaresUDPServerData = null;
TrimaresUDPServerConn = null;
}
}