void ReceiveLoop(IAsyncResult ar)
{
//Packet from remote host received
Byte[] receiveBytes = UDP_Client.EndReceive(ar, ref LocalEndPoint);
/* Received packets parsing */
//node data packet
if (receiveBytes[0] == UDP_NODE_DATA)
{
//Get X coord from packet
byte[] dataX = new byte[4];
Array.Copy(receiveBytes, 1, dataX, 0, 4);
Array.Reverse(dataX);
//Get Y coord from packet
byte[] dataY = new byte[4];
Array.Copy(receiveBytes, 5, dataY, 0, 4);
Array.Reverse(dataY);
dojoCoords actCoords = new dojoCoords(BitConverter.ToUInt32(dataX, 0), BitConverter.ToUInt32(dataY, 0));
dojoData actData;
//get act from table
if (ActTable.TryGetValue(actCoords, out actData))
{
//update act Value with Threshold
actData.Value += actData.Threshold;
//save new value in act table
ActTable[actCoords] = actData;
}
}
//Start receive next one
UDP_Client.BeginReceive(new AsyncCallback(ReceiveLoop), null);
}
public MainWindow()
{
InitializeComponent();
Client = new dojoClient(IPAddress.Parse("192.168.56.101"));
UpdateProcess = new Thread(UpdateValues);
UpdateProcess.IsBackground = true;
UpdateProcess.Start();
Sensor1 = new dojoCoords(0, 0);
Sensor2 = new dojoCoords(1, 0);
Sensor3 = new dojoCoords(2, 0);
Sensor4 = new dojoCoords(3, 0);
UpAct = new dojoCoords(0, 1);
DownAct = new dojoCoords(1, 1);
LeftAct = new dojoCoords(2, 1);
RightAct = new dojoCoords(3, 1);
Client.RegSensor(Sensor1, 1);
Client.RegSensor(Sensor2, 1);
Client.RegSensor(Sensor3, 1);
Client.RegSensor(Sensor4, 1);
Client.RegAct(UpAct, 1);
Client.RegAct(DownAct, 1);
Client.RegAct(LeftAct, 1);
Client.RegAct(RightAct, 1);
}