protected override void DataReceived(object sender, SerialDataReceivedEventArgs e)
{
try
{
var port = sender as SerialPort;
while (port.BytesToRead > 0)
{
var d = port.ReadLine();
if (d.Equals("OK\r", StringComparison.InvariantCultureIgnoreCase))
{
if (TargetPose != null)
{
CurrentPose = TargetPose;
TargetPose = null;
}
}
DataReceivedHandler?.Invoke(d);
}
}
finally
{
lock (Syncroot)
{
IsIdel = true;
}
}
}
protected void BeginReceiving(Socket socket)
{
while (socket.Connected())
{
try
{
int dataLenght = BitConverter.ToInt32(socket.Receive(4), 0);
byte[] data = socket.Receive(dataLenght);
DataReceived?.Invoke(socket, data);
}
catch (ObjectDisposedException) { break; }
catch (SocketException) { break; }
}
Disconnected(socket);
}
private void MonitorIncomingData()
{
bool incomingData = false;
EventHandler <TcpDataReceivedEventArgs> DataReceivedHandler;
while (MonitoringThreadActive) //Loop forever
{
DataReceivedHandler = DataReceived;
if (DataReceivedHandler != null)
{
if (!incomingData)
{
if (TcpStream.DataAvailable)
{
lock (LockHandler)
{
incomingData = true;
byte[] data = ReadRawBytes();
if (data.Length > 0)
{
DataReceivedHandler.Invoke(this, new TcpDataReceivedEventArgs()
{
Data = data
});
}
}
}
}
else
{
if (!TcpStream.DataAvailable)
{
incomingData = false;
}
}
}
Thread.Sleep(50);
}
}
public void ExecuteReceivedDataHandler(Packet package, SenderSocket receiveSocket)
{
DataReceivedHandler?.Invoke(package, receiveSocket);
}