private async void TCPClientHandler(TcpClient paramClient)
{
NetworkStream stream = null;
StreamReader reader = null;
try
{
stream = paramClient.GetStream();
reader = new StreamReader(stream);
char[] buff = new char[64];
while (true)
{
Debug.WriteLine("*** Ready to read");
int nRet = await reader.ReadAsync(buff, 0, buff.Length);
/*
* System.Diagnostics.Debug.WriteLine("Returned: " + nRet);
*
* if (nRet == 0)
* {
* RemoveClient(paramClient);
*
* Console.WriteLine("Socket disconnected");
* break;
* }
*/
string receivedText = new string(buff);
Console.WriteLine($"{DateTime.Now.ToString("MM/dd/yyyy HH:mm:ss")} => Incoming TCP data receieved");
receivedText = receivedText.TrimEnd('\0');
ServerHTTP.responseData = receivedText; //changing data within recieved response data
ForwardHandler.TCP_HTTP_Forward(receivedText); // forwarding data to HTTP host
Array.Clear(buff, 0, buff.Length);
//SENDING DATA FROM SERVER TO TCP CLIENT
//SendToAll();
}
}
catch (Exception e)
{
RemoveClient(paramClient);
Console.WriteLine(e.ToString());
}
}
/// <summary>
/// Alternate Constructor which will call your own functions for forward and backward steps.
/// You can have multiple simultaneous steppers, all moving
/// at different speeds and accelerations, provided you call their run()
/// functions at frequent enough intervals. Current Position is set to 0, target
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
/// Any motor initialization should happen before hand, no pins are used or initialized.
/// </summary>
/// <param name="forward">forward void-returning procedure that will make a forward step</param>
/// <param name="backward">backward void-returning procedure that will make a backward step</param>
/// <param name="getMicrosecondsHandler">Custom time method. To be used when hardware allows time measurement with less latency then DateTime.UtcNow.Ticks</param>
public AccelStepper(ForwardHandler forward, BackwardHandler backward, GetMicroSecondsHandler getMicrosecondsHandler)
{
_interface = 0;
_currentPos = 0;
_targetPos = 0;
_speed = 0.0f;
_maxSpeed = 1.0f;
_acceleration = 0.0f;
_stepInterval = 0;
_minPulseWidth = 1;
_enablePin = new Pin {
Num = 0xff
};
_lastStepTime = 0;
_pin[0] = new Pin();
_pin[1] = new Pin();
_pin[2] = new Pin();
_pin[3] = new Pin();
_forward = forward;
_backward = backward;
_getMicroSecondsHandler = getMicrosecondsHandler;
// NEW
_n = 0;
_c0 = 0.0f;
_cn = 0.0f;
_cmin = 1.0f;
_direction = Direction.DIRECTION_CCW;
int i;
for (i = 0; i < 4; i++)
{
_pinInverted[i] = 0;
}
// Some reasonable default
SetAcceleration(1);
}
