public TcpServer(int port, Driver driver, Thread httpThread)
{
this.httpThread = httpThread;
this.driver = driver;
tcpListener = new TcpListener(IPAddress.Any, port);
DriveCommand.CreateFile();
}
private bool HandleRequest(string request)
{
if (httpThread != null && httpThread.IsAlive)
{
httpThread?.Abort();
}
DriveCommand.AppendCommand(request);
if (request.StartsWith("Start"))
{
return(false);
}
return(true);
}
public void Drive()
{
this.logThread = new Thread(positionLogger.Start);;
this.logThread.Start();
foreach (RobotCommand command in DriveCommand.ReadCommands())
{
command.Execute(this.robot);
tbLog.BeginInvoke(new AddLog(SetLabel), new object[] { command.ToString() + " started" });
while (!this.robot.Drive.Done)
{
Thread.Sleep(100);
}
;
}
this.logThread.Abort();
this.httpLogServerThread?.Abort();
httpLogServerThread = new Thread(httpLogServer.Start);
this.httpLogServerThread.Start();
}
public void Start()
{
isActive = true;
tcpListener.Start();
Log?.Invoke("Tcp Server started", new EventArgs());
while (true)
{
using (TcpClient client = tcpListener.AcceptTcpClient())
{
//using (NetworkStream stream = client.GetStream())
{
if (client.ReceiveBufferSize > 0)
{
StreamReader inputStream = new StreamReader(client.GetStream());
StreamWriter outputStream = new StreamWriter(client.GetStream());
string request = inputStream.ReadLine();
Log?.Invoke(request, new EventArgs());
isActive = HandleRequest(request);
outputStream.WriteLine("OK");
outputStream.Flush();
inputStream.Close();
outputStream.Close();
}
}
}
if (!isActive)
{
Thread driveThread = new Thread(new ThreadStart(driver.Drive));
driveThread.Start();
driveThread.Join();
DriveCommand.CreateFile();
isActive = true;
}
}
}
