/// <summary>
/// If TCP client receive data from server
/// </summary>
/// <param name="data"></param>
private static void TcpListenTask(byte[] data)
{
string dataStr = Encoding.ASCII.GetString(data);
string[] itemStrings = dataStr.Split(Separators, StringSplitOptions.RemoveEmptyEntries);
if (itemStrings[0] == "Motor")
{
SerialManager tempSerialManager = SerialManager.GetInstance();
SerialManager.SerialPortWithGuid port = tempSerialManager.GetPort(RaspberrySerial.PortGuid);
byte[] serialBytes = new byte[8];
serialBytes[0] = 0x01;
for (int i = 1; i < 5; i++)
{
serialBytes[i] = Convert.ToByte(itemStrings[i]);
}
int time = Convert.ToInt32(itemStrings[5]);
serialBytes[5] = (byte)(time / 256);
serialBytes[6] = (byte)(time % 256);
serialBytes[7] = 0xFF;
port.Send(serialBytes);
}
else if (itemStrings[0] == "AcquirePicture")
{
SendPicture();
}
else
{
throw new NotImplementedException();
}
}
static void Main(string[] args)
{
#region Camera
RaspberryCamera tempCamera = RaspberryCamera.GetInstance();
tempCamera.StartStreaming(pictureSize, fps);
Console.WriteLine("Init Camera --- success");
#endregion
#region Init UDP manager
Console.Write("Init UDP manager");
UdpManager tempUdpManager = UdpManager.GetInstance();
tempUdpManager.InitUdp(LocalUdpPort, InterNetwork.UdpListenTaskDelegate);
Console.WriteLine(" --- success");
#endregion
#region Init Serial Manager
Console.Write("Init SERIAL manager ");
SerialManager tempSerialManager = SerialManager.GetInstance();
while (true)
{
string[] ports = SerialManager.GetAllVaildPorts();
bool signFind = false;
foreach (string i in ports)
{
if (i.Contains("USB"))
{
SerialManager.SerialPortWithGuid portWithGuid = tempSerialManager.Add(i, BaudRate, Parity.None, RaspberrySerial.TargetDataReceivedEventHandler);
RaspberrySerial.PortGuid = portWithGuid.Guid;
RaspberrySerial.StartReceive(portWithGuid.Serial);
Console.Write("Select" + i);
signFind = true;
break;
}
}
if (!signFind)
{
Console.WriteLine("The system is waiting for a serial port device");
Thread.Sleep(1000);
}
else
{
break;
}
}
Console.WriteLine(" --- success");
#endregion
if (Debugger.IsAttached)
{
while (true)
{
Thread.Sleep(1000);
}
}
Console.ReadLine();
tempCamera.StopStreaming();
StateManager.GetInstance().FindServer = false;
tempSerialManager.GetPort(RaspberrySerial.PortGuid).Serial.Dispose();
Environment.Exit(0);
}