private void WaitForReceive(){
while (allowReceive)
{
int sleep = (int)((1.0 / (double)checkReceiveFreq) * 1000);
Thread.Sleep(sleep);
if (socketClient.DataAvailable())
{
// Update receive time
lastTimeReceived = stopWatch.ElapsedMilliseconds;
// Read bytes
ExternSimulationPackage tempP = new ExternSimulationPackage();
Byte[] tempBuffer = new Byte[tempP.GetSize()];
socketClient.ReadData(tempBuffer, tempP.GetSize());
receivePackage = new ExternSimulationPackage(tempBuffer);
Console.WriteLine("Recevied" + receivePackage.numInputs[3].ToString());
// read dig inputs
// loop bytes
for (int i = 0; i < receivePackage.digInputs.Length; i++)
{
//loop bits
for(int j = 0; j<8 ; j++){
ensorIOController.SetDigInputBySocket(i*8+j,(receivePackage.digInputs[i] & (1 << j)) != 0);
}
}
// read dig outputs
// loop bytes
for (int i = 0; i < receivePackage.digOutputs.Length; i++)
{
//loop bits
for (int j = 0; j < 8; j++)
{
ensorIOController.SetDigOutputBySocket(i*8 + j, (receivePackage.digOutputs[i] & (1 << j)) != 0);
}
}
// read num outputs
for (int i = 0; i < receivePackage.numOutputs.Length; i++)
{
ensorIOController.SetNumOutputBySocket(i, receivePackage.numOutputs[i]);
}
// read num inputs
for (int i = 0; i < receivePackage.numInputs.Length; i++)
{
ensorIOController.SetNumInputBySocket(i, receivePackage.numInputs[i]);
}
// Resend poll message
if (!ensorIOController.GetGUIBusyWriting())
{
connectionAlive = this.PollData();
}
else
{
connectionAlive = SendIOUpdate();
}
if (!connectionAlive)
{
// Stop sending data untin new connection is made
allowReceive = false;
}
else
{
// Last time valid send
lastTimeSend = stopWatch.ElapsedMilliseconds;
}
}
}
}
public bool SendIOUpdate()
{
// convert EnsorIOcontroller in to Extern simulation packege
sendPackage = new ExternSimulationPackage();
// convert dig inputs
foreach (DigInput digInput in ensorIOController.digInputs)
{
int byteNr = (int)Math.Floor((double)digInput.IdxNr / 8.0);
int bitNr = digInput.IdxNr % 8;
byte mask = (byte)((digInput.CurrentVal?1:0) << bitNr);
sendPackage.digInputs[byteNr] |= mask;
}
// convert dig outputs
foreach (DigOutput digOutput in ensorIOController.digOutputs)
{
int byteNr = (int)Math.Floor((double)digOutput.IdxNr / 8.0);
int bitNr = digOutput.IdxNr % 8;
sendPackage.digOutputs[byteNr] |= (byte)((digOutput.CurrentVal?1:0) << bitNr);
}
// convert num inputs
foreach (NumInput numInput in ensorIOController.numInputs)
{
sendPackage.numInputs[numInput.IdxNr] = numInput.CurrentVal;
}
// convert num outputs
foreach (NumOutput numOutput in ensorIOController.numOutputs)
{
sendPackage.numOutputs[numOutput.IdxNr] = numOutput.CurrentVal;
}
if (socketClient.SendData(sendPackage.ToByteArray(), sendPackage.ToByteArray().Length))
{
ensorIOController.ResetGUIBusyWriting();
return true;
}
else
{
return false;
}
}
