// Destruct all connections.
public void DeinitRobot()
{
if (checkStateThread != null)
{
checkStateThread.Abort();
}
if (checkStateThread2 != null)
{
checkStateThread2.Abort();
}
if (MessageReader1 != null)
{
MessageReader1.Close();
}
if (MessageReader2 != null)
{
MessageReader2.Close();
}
if (DataStream1 != null)
{
DataStream1.Close();
}
if (DataStream2 != null)
{
DataStream2.Close();
}
if (Client1 != null)
{
Client1.Close();
}
if (Client2 != null)
{
Client2.Close();
}
}
private void checkStateController()
{
while (true)
{
Thread.Sleep(1000);
if (Client2.Connected == false)
{
try
{
if (MessageReader2 != null)
{
MessageReader2.Close();
}
if (DataStream2 != null)
{
DataStream2.Close();
}
if (Client2 != null)
{
Client2.Close();
}
Client2 = new TcpClient();
Client2.NoDelay = true;
Client2.Connect(IPAddress.Parse(ip), MessagePort);
if (Client2.Connected)
{
DataStream2 = Client1.GetStream();
MessageReader2 = new StreamReader(DataStream2);
}
}
catch (ArgumentNullException ex1)
{
Console.WriteLine("ArgumentNullException = " + ex1);
}
catch (SocketException ex2)
{
Console.WriteLine("SocketException = " + ex2);
}
catch (Exception e)
{
Console.WriteLine("Exception = " + e);
}
}
}
}
public void SendInput(string msg) //send messages to controller
{
try
{
if (Client2 != null && Client2.Connected)
{
msg += System.Environment.NewLine; // Add a NewLine
int len = msg.Length;
if (len != 0)
{
ASCIIEncoding code = new ASCIIEncoding();
Byte[] bbb = code.GetBytes(msg);
Byte[] aaa = new Byte[1024];
for (int i = 0; i < len; i++)
{
aaa[i] = bbb[i];
}
aaa[len] = 0x0D; // 0x0D means Enter
aaa[len + 1] = 0;
DataStream2.Write(aaa, 0, len);
//DataStream2.Write(bbb, 0, msg.Length);
Thread.Sleep(100);
}
}
}
catch (ArgumentNullException ex1)
{
Console.WriteLine("ArgumentNullException = " + ex1);
}
catch (IOException ex2)
{
Console.WriteLine("IOException = " + ex2);
}
catch (Exception e)
{
Console.WriteLine("Exception = " + e);
}
}
