private static void buildVehicle(XmlNode vehicleNode)
{
var vehicle = new Vehicle();
var stages = vehicleNode.ChildNodes;
foreach (XmlNode stage in stages)
{
var name = stage.Attributes?.GetNamedItem("name").Value;
double.TryParse(stage.Attributes?.GetNamedItem("massTotal").Value, out var massTotal);
double.TryParse(stage.Attributes?.GetNamedItem("massFuel").Value, out var massFuel);
double.TryParse(stage.Attributes?.GetNamedItem("massDry").Value, out var massDry);
double.TryParse(stage.Attributes?.GetNamedItem("gLim").Value, out var gLim);
double.TryParse(stage.Attributes?.GetNamedItem("minThrottle").Value, out var minThrottle);
double.TryParse(stage.Attributes?.GetNamedItem("throttle").Value, out var throttle);
bool.TryParse(stage.Attributes?.GetNamedItem("shutdownRequired").Value, out var shutdownRequired);
var stg = new VehicleStage(name, massTotal, massFuel, massDry, gLim, minThrottle, throttle, shutdownRequired);
var children = stage.ChildNodes;
var engines = new List <XmlNode>();
foreach (XmlNode child in children)
{
if (child.LocalName != "engines")
{
continue;
}
foreach (XmlNode engine in child.ChildNodes)
{
engines.Add(engine);
}
}
foreach (var engine in engines)
{
double.TryParse(engine.Attributes?.GetNamedItem("isp").Value, out var isp);
double.TryParse(engine.Attributes?.GetNamedItem("thrust").Value, out var thrust);
double.TryParse(engine.Attributes?.GetNamedItem("flow").Value, out var flow);
var eng = new Engine(Globals.G0, stg.Throttle, isp, thrust, flow);
stg.addEngine(eng);
}
vehicle.addVehicleStage(stg);
}
Globals.VehicleData = vehicle;
}
void StartListening()
{
try
{
Debug.Log("Before Started at host:" + remoteIp + ", port " + remotePort);
tcp_Listener = new TcpListener(IPAddress.Any, remotePort); //System.Net.IPAddress
tcp_Listener.Start();
Debug.Log("Server Started at host:" + remoteIp + ", port " + remotePort);
// Buffer for reading data
Byte[] bytes = new Byte[256];
String jsonData = null;
while (mRunning)
{
// check if new connections are pending, if not, be nice and sleep 100ms
if (!tcp_Listener.Pending())
{
Thread.Sleep(100);
}
else
{
TcpClient client = tcp_Listener.AcceptTcpClient();
NetworkStream stream = client.GetStream();
int i = 0;
jsonData = null;
byte[] msg = null;
// Loop to receive all the data sent by the client.
while ((i = stream.Read(bytes, 0, bytes.Length)) != 0)
{
jsonData = System.Text.Encoding.ASCII.GetString(bytes, 0, i);
var myDetails = JsonConvert.DeserializeObject <SetController> (jsonData);
String returnMessage = "";
switch (myDetails.Cmd)
{
case 1:
var VehicleStage_ = new VehicleStage {
Cmd = 1,
Speed = 0.0f,
Angle = 0.0f,
Lat = 0.0f,
Lon = 0.0f,
Heading = 0.0f
};
returnMessage = JsonConvert.SerializeObject(VehicleStage_);
msg = Encoding.UTF8.GetBytes(returnMessage);
break;
case 2:
msg = camController.imageResult.originalIMG;
break;
case 3:
msg = camController.imageResult.segmentIMG;
break;
default:
break;
}
stream.Write(msg, 0, msg.Length);
}
client.Close();
Debug.Log("Client closed");
}
} // while
}
catch (ThreadAbortException)
{
Debug.Log("Error");
}
finally
{
mRunning = false;
tcp_Listener.Stop();
}
}
