//----------------------------------------------------------------------------
// Purpose:
// Constructor
//
// Notes:
// None
//
//----------------------------------------------------------------------------
public RNDODriverStation()
{
InitializeComponent();
tSend.Enabled = true;
mCommonTransmitID = mClient.openSenderPort("RNDOCommon");
mControlMessage = mClient.getTransNDOMessage(mCommonTransmitID, 0xB0);
}
//--------------------------------------------------------------------
// Purpose:
//
//
// Notes:
// None.
//--------------------------------------------------------------------
public RNDOMessage GetRNDOMessage(UInt16 id)
{
RNDOMessage message = new RNDOMessage(id);
for (int index = 0; index < mNDOMessages.Count; index++)
{
if (mNDOMessages[index].GetHeader() == message.GetHeader())
{
return(mNDOMessages[index]);
}
}
mNDOMessages.Add(message);
return(message);
}
//----------------------------------------------------------------------------
// Purpose:
// Constructor
//
// Notes:
// None
//
//----------------------------------------------------------------------------
public RNDOGraph()
{
InitializeComponent();
mCommonReceiveID = mClient.openListenerPort("RNDOCommon");
mControlMessage = mClient.getReceiveRNDOMessage(mCommonReceiveID, 0xB0);
mGyroDebug = mClient.getReceiveRNDOMessage(mCommonReceiveID, 0x30, 0x01);
mPID = mClient.getReceiveRNDOMessage(mCommonReceiveID, 0x21, 0x01);
mPointChart = new PointChart(LEFT_OFFSET, TOP_OFFSET, MAX_DATA_POINTS, HEIGHT);
mPointChart.AddChannel(mNumber1);
mPointChart.AddChannel(mNumber2);
mPointChart.AddChannel(mNumber3);
mPointChart.AddChannel(mNumber4);
mPointChart.AddChannel(mNumber5);
mPointChart.AddChannel(mNumber6);
mPointChart.AddChannel(mNumber7);
mPointChart.AddChannel(mNumber8);
mPointChart.AddChannel(mNumber9);
mPointChart.AddChannel(mNumber10);
}
//----------------------------------------------------------------------------
// Purpose:
// the thread that does the work
//
// Notes:
// None
//
//----------------------------------------------------------------------------
private void RunTCPIPThread()
{
DateTime receiveTime = DateTime.Now;
IPEndPoint localEndPoint = new IPEndPoint(IPAddress.Parse(ConfigFile.mRNDOIP), (int)mTCPIPPortID);
while (true == mRunThread)
{
try
{
Socket reader = new Socket(AddressFamily.InterNetwork,
SocketType.Stream,
ProtocolType.Tcp);
Debug.WriteLine("New socket:" + mName);
reader.Connect(localEndPoint);
reader.ReceiveTimeout = 10;
reader.DontFragment = true;
while ((true == mRunThread) && (true == reader.Connected))
{
try
{
mDataSize = (UInt32)reader.Receive(mData, (int)RNDOMessage.MAX_FULL_MESSAGE_SIZE, SocketFlags.None);
mReceivedTimeSpan = DateTime.Now.Subtract(receiveTime);
// If we have data update the counts and labels.
if ((mDataSize < (int)ConfigFile.MAX_BUFFER_SIZE) && (mDataSize >= RNDOMessage.MAX_FULL_MESSAGE_SIZE))
{
mReceivedCount++;
receiveTime = DateTime.Now;
for (int index = 0; index < mDataSize; index += RNDOMessage.MAX_FULL_MESSAGE_SIZE)
{
RNDOMessage NDOMess = new RNDOMessage(mData, index);
for (int indexInner = 0; indexInner < mNDOMessages.Count; indexInner++)
{
if (NDOMess.GetHeader() == mNDOMessages[indexInner].GetHeader())
{
mNDOMessages[indexInner].SetData(NDOMess.GetData());
}
}
}
}
}
catch (Exception e)
{
Debug.WriteLine("Inner Except:" + e.ToString());
Debug.WriteLine("Connection:" + reader.Connected.ToString());
}
Thread.Sleep(3);
}
reader.Close();
}
catch (Exception)
{
Debug.WriteLine("Outer Except");
}
Thread.Sleep(3);
}
}
//----------------------------------------------------------------------------
// Purpose:
// the thread that does the work
//
// Notes:
// None
//
//----------------------------------------------------------------------------
private void RunAFDXThread()
{
DateTime oldReceiveTime = DateTime.Now;
DateTime oldTime = DateTime.Now;
// Open up the receive TCP/IP port.
IPEndPoint localEndPoint = new IPEndPoint(IPAddress.Any, (int)mTCPIPReceivePortID);
Socket listener = new Socket(AddressFamily.InterNetwork,
SocketType.Stream,
ProtocolType.Tcp);
listener.Bind(localEndPoint);
listener.Listen(20);
listener.ReceiveTimeout = 9000;
while (true == mRunThread)
{
try
{
Socket client = listener.Accept();
oldTime = DateTime.Now;
while ((true == mRunThread) && (true == client.Connected))
{
try
{
mDataSize = (UInt32)client.Receive(mData);
mReceiveTimeSpan = DateTime.Now.Subtract(oldReceiveTime);
if (0 != mDataSize)
{
oldReceiveTime = DateTime.Now;
for (int index = 0; index < mDataSize; index += RNDOMessage.MAX_FULL_MESSAGE_SIZE)
{
RNDOMessage NDOMess = new RNDOMessage(mData, index);
bool found = false;
for (int indexInner = 0; indexInner < mMessages.Count; indexInner++)
{
if (NDOMess.GetHeader() == mMessages[indexInner].GetHeader())
{
mMessages[indexInner].SetData(NDOMess.GetData());
found = true;
}
}
if (false == found)
{
mMessages.Add(NDOMess);
}
}
}
else
{
if (oldTime.AddSeconds(3) < DateTime.Now)
{
break;
}
}
Thread.Sleep(3);
}
catch (Exception)
{
}
Thread.Sleep(3);
}
client.Close();
}
catch (Exception)
{
}
Thread.Sleep(3);
}
for (int index = 0; index < mClientSockets.Count; index++)
{
try
{
mClientSockets[index].Close();
}
catch (Exception)
{
}
}
}
