static void Main(string[] args)
{
Calls call = new Calls();
CommNode comm1 = new Comms(1);
CommNode comm2 = new Comms(2);
comm1.LinkCallback(new Ping(), new CallBack(call.PingCallback));
comm2.LinkCallback(new Ping(), new CallBack(call.PingCallback));
comm1.InitConnection(TransportProtocol.ZIGBEE_LINK, "COM5", "", 57600);
comm2.InitConnection(TransportProtocol.ZIGBEE_LINK, "COM6", "", 57600);
Console.WriteLine(comm1.AddAddress(2, "0013A2004067E4AE", 0));
Console.WriteLine(comm2.AddAddress(1, "0013A20040917A31", 0));
//comm1.InitConnection(TransportProtocol.UDP_LINK, "1337", "127.0.0.1", 57600);
//comm2.InitConnection(TransportProtocol.UDP_LINK, "1338", "127.0.0.1", 57600);
//Console.WriteLine(comm1.AddAddress(2, "127.0.0.1", 1338));
//Console.WriteLine(comm2.AddAddress(1, "127.0.0.1", 1337));
//Ping ping = new Ping("I am from C#!");
comm1.Run();
comm2.Run();
Ping ping = new Ping("From C#, From the xbee!!");
//TargetDesignationCommand command = new TargetDesignationCommand(45.34f, 23.22f, 234.44f);
while (true)
{
comm1.Send(ping, 2);
//comm1.Send(command, 1);
System.Threading.Thread.Sleep(1000);
}
comm1.Stop(); //This call is essential to stop threads because finalizer may not be called.
comm2.Stop();
}
protected override void OnCreate(Bundle bundle)
{
base.OnCreate(bundle);
// Set our view from the "main" layout resource
SetContentView(Resource.Layout.Main);
// Get our button from the layout resource,
// and attach an event to it
Button button = FindViewById <Button>(Resource.Id.MyButton);
Comms comms = new Comms(new TcpClient("192.168.0.30", 1490));
button.Click += delegate { comms.Send("Request Build"); };
}
/// <summary>
/// This method should be called by an event handler for each time there is a gain to be written for any servo
/// </summary>
/// <param name="servo_id"></param>
/// <param name="write_value"></param>
private void SendArmData(int servo_id, int write_value)
{
//@TODO send values
NGCP.ArmCommand ac = new NGCP.ArmCommand((byte)servo_id, write_value);
comms.Send(ac, UGV_ID);
}