public void Connect()
{
for (int i = 0; i < ChannelData.Length; i++)
{
ChannelData[i] = 1500;
}
if (Address == null)
{
Address = WiRCMessages.Discover();
}
TCPListener = Task.Run(() => StartTCPListener());
Listener = Task.Run(() => StartUdpListener());
ConnectTCP();
//while (SenderId < 0)
// Thread.Sleep(10);
//WiRCMessages.SendTCP(TcpStream, new WiRCMessage(WiRCCmd.AREQ, (byte)SenderId));
//while (!_inControl)
// Thread.Sleep(10);
Task.Run(() => StartControlLoop());
Task.Run(() => StartWatchdogLoop());
Task.Run(() => StartCameraLoop(0));
}
private void ConnectTCP()
{
TcpStream = WiRCMessages.ConnectTCP(Address);
WiRCMessages.SendTCP(TcpStream, WiRCMessages.TL());
WiRCMessages.SendTCP(TcpStream, WiRCMessages.CCFG());
WiRCMessages.SendTCP(TcpStream, WiRCMessages.FCFG());
WiRCMessages.SendTCP(TcpStream, WiRCMessages.STST(0));
Console.WriteLine("Connected");
}
private void StartControlLoop()
{
while (!disposed)
{
updateChannelData = false;
WiRCMessages.SendUdp(WiRCMessages.PCD(ChannelData), Address, PCDPort, 1990);
var dt = DateTime.Now;
while (!updateChannelData && (DateTime.Now - dt).TotalMilliseconds < 500)
{
Thread.Sleep(10);
}
}
}
public string VideoPath;//= @"d:\ttt\jpeg3";
private void StartCameraLoop(int camId)
{
int cntr = 0;
using (UdpClient udpClient = new UdpClient(WiRCMessages.CameraPort + camId))
{
while (!disposed)
{
//IPEndPoint object will allow us to read datagrams sent from any source.
var remote = new IPEndPoint(IPAddress.Any, 0);
// Blocks until a message returns on this socket from a remote host.
var buf = udpClient.Receive(ref remote);
_watchdogTime = DateTime.Now;
if (buf.Length == 0)
{
Thread.Sleep(50);
continue;
}
var length = (int)WiRCMessages.FromBytes(buf, 12, 4, true);
if (VideoPath != null)
{
using (var f = File.OpenWrite(Path.Combine(VideoPath, "pic" + (cntr++).ToString("00000") + ".jpeg")))
f.Write(buf, 16, length);
}
var b = Bitmap.FromStream(new MemoryStream(buf, 16, length));
if (!running)
{
running = true;
Task.Run(() =>
{
try
{
if (PictureRecieved != null)
{
PictureRecieved(camId, b);
}
}
finally { running = false; }
});
}
}
}
}
public static IPAddress Discover()
{
#if DEBUG
throw new Exception("Discover only works if you build for Release");
#else
var ip = IPAddress.Parse("192.168.1.255");
SendUdp(WiRCMessages.BCSD(), ip, Port, Port);
IPEndPoint endp;
while (ReciveUdp(out endp).Cmd != WiRCCmd.BCSA)
{
;
}
return(endp.Address);
#endif
}
void StartUdpListener()
{
IPEndPoint endpoint;
while (!disposed)
{
var msg = WiRCMessages.ReciveUdp(out endpoint);
Console.WriteLine(msg.Cmd);
switch (msg.Cmd)
{
case WiRCCmd.BCSD:
// this is our own packet
break;
case WiRCCmd.BCSA:
Address = endpoint.Address;
break;
default:
Console.Write(BitConverter.ToString(msg.Data));
break;
}
}
}
public void Disconnect()
{
disposed = true;
WiRCMessages.SendTCP(TcpStream, new WiRCMessage(WiRCCmd.EST, 0));
}
