private bool Apply()
{
if (!IPAddress.TryParse(txtIp.Text, out address))
{
MessageBoxes.ShowError("Unable to cast IP Address, check if the specified text in the Server IP box is a valid IP Address. ");
return false;
}
if (!uint.TryParse(txtPort.Text, out port))
{
MessageBoxes.ShowError("Unable to cast Port, check if the specified text in the Multicast Port box is a valid Port. ");
return false;
}
SSLVisionReceiver receiver = new SSLVisionReceiver();
receiver.IpAddress = address;
receiver.Port = port;
rigReference.VisionReceiver = receiver;
try
{
rigReference.VisionReceiver.Connect();
return true;
}
catch (Exception ex)
{
MessageBoxes.ShowError(ex.Message);
return false;
}
return true;
}
public static void Main(string[] args)
{
IRepository repository = new DataRepository(5, true, false);
IPacketReceiver receiver = new SSLVisionReceiver(IPAddress.Parse("224.5.23.2"), 10002);
IPacketSender sender = new GRSimSender(IPAddress.Parse("20.200.20.207"), 20011);
receiver.Connect();
sender.Connect();
((IDataSource)receiver).Repository = repository;
((IDataSource)sender).Repository = repository;
IPlanner planner = new DummyPlanner();
((IDataSource)planner).Repository = repository;
IController[] controllers = new IController[6];
for (int i = 0; i < controllers.Length; i++)
{
controllers[i] = new PIDController(i);
((IDataSource)controllers[i]).Repository = repository;
}
//repository.InData.ParsePacket((SSL_WrapperPacket)receiver.Receive());
//planner.Plan();
//controllers[0].Compute();
//((ITask)sender).Execute();
ITask anchor = (ITask)receiver;
ITask reference = (ITask)planner;
anchor.GetNext = () => new[] { reference };
reference.GetNext = () =>
{
List<ITask> controller = new List<ITask>();
foreach(ITask contr in controllers)
controller.Add(contr);
return controller.ToArray();
};
foreach (var controller in controllers)
{
((ITask)controller).GetNext = () => new[] { (ITask)sender };
}
IExecutionEngine engine = new SingleProcessor(new[] { anchor });
engine.Start();
}
