/// <summary>
/// Close the TCP Connection
/// </summary>
public void OnClose()
{
try
{
//Fill the info for the message to be send
ViewerData msgToSend = new ViewerData();
msgToSend.Message = null;
msgToSend.OPCommand = Command.Logout;
byte[] byteData = msgToSend.ToByte();
//Send it to the server
clientSocket.BeginSend(byteData, 0, byteData.Length, SocketFlags.None, new AsyncCallback(OnSend), null);
clientSocket.Close();
clientSocket = null;
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
/// <summary>
/// OnConnect : connect to server. Send Connect Message
/// </summary>
/// <param name="ar"></param>
private void OnConnect(IAsyncResult ar)
{
try
{
clientSocket.EndConnect(ar);
Console.WriteLine("Connected");
//We are connected so we login into the server
ViewerData msgToSend = new ViewerData();
msgToSend.OPCommand = Command.Login;
msgToSend.Message = null;
byte[] b = msgToSend.ToByte();
//Send the message to the server
Console.WriteLine("Try Send Welcome packet");
clientSocket.BeginSend(b, 0, b.Length, SocketFlags.None, new AsyncCallback(OnSend), null);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
/// <summary>
/// Handle Recieved TCP Packet
/// </summary>
/// <param name="ar"></param>
private void OnReceive(IAsyncResult ar)
{
try
{
clientSocket.EndReceive(ar);
ViewerData msgReceived = new ViewerData(byteData);
//Accordingly process the message received
switch (msgReceived.OPCommand)
{
case Command.DataPacket:
//TODO Save the Packed somewhere!
//data sync
try
{
//
OML_App.Connection.Data.SyncStructPackage pack = new OML_App.Connection.Data.SyncStructPackage();
unsafe
{
OML_App.Connection.Data.SyncStructPackage* p;
GCHandle gch = GCHandle.Alloc(msgReceived.Message, GCHandleType.Pinned);
p = (OML_App.Connection.Data.SyncStructPackage*)gch.AddrOfPinnedObject().ToPointer();
pack = *p;
gch.Free();
}
DateTime this_time = DateTime.Now;
Console.WriteLine("succesfully synced");
Console.WriteLine(pack.ToString());
Receive_Singleton.Instance.Current_ses.Sensors[0].AddValueDataToArray(new ValueData(pack.voltage_motor_0, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[1].AddValueDataToArray(new ValueData(pack.voltage_motor_1, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[2].AddValueDataToArray(new ValueData(pack.voltage_motor_2, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[3].AddValueDataToArray(new ValueData(pack.voltage_motor_3, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[4].AddValueDataToArray(new ValueData(pack.current_motor_0, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[5].AddValueDataToArray(new ValueData(pack.current_motor_1, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[6].AddValueDataToArray(new ValueData(pack.current_motor_2, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[7].AddValueDataToArray(new ValueData(pack.current_motor_3, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[8].AddValueDataToArray(new ValueData(pack.Temp_0, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[9].AddValueDataToArray(new ValueData(pack.Temp_1, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[10].AddValueDataToArray(new ValueData(pack.Temp_2, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[11].AddValueDataToArray(new ValueData(pack.Temp_3, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[12].AddValueDataToArray(new ValueData(pack.throttle_0, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[13].AddValueDataToArray(new ValueData(pack.throttle_1, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[14].AddValueDataToArray(new ValueData(pack.throttle_2, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[15].AddValueDataToArray(new ValueData(pack.throttle_3, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[16].AddValueDataToArray(new ValueData(pack.accu_voltage, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[17].AddValueDataToArray(new ValueData(pack.accu_current, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[18].AddValueDataToArray(new ValueData(pack.accu_temp1, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[19].AddValueDataToArray(new ValueData(pack.accu_voltage, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[20].AddValueDataToArray(new ValueData(pack.accu_current, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[21].AddValueDataToArray(new ValueData(pack.accu_temp1, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[22].AddValueDataToArray(new ValueData(pack.gyro_x, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[23].AddValueDataToArray(new ValueData(pack.gyro_y, this_time));
Receive_Singleton.Instance.Current_ses.Sensors[24].AddValueDataToArray(new ValueData(pack.gyro_z, this_time));
//Receive_Singleton.Instance.Current_ses.Sensors[25].AddValueDataToArray(new ValueData(pack.voltage_motor_0, this_time));
}
catch (Exception e)
{
Console.WriteLine("het lezen van syncpackage is mislukt");
}
break;
case Command.AppPack:
//Set Server State
if (BitConverter.ToInt32(msgReceived.Message, 4) == 1)
Settings_Singleton.Instance.TCP_View_State = true;
else
Settings_Singleton.Instance.TCP_View_State = false;
break;
}
byteData = new byte[1024];
clientSocket.BeginReceive(byteData,
0,
byteData.Length,
SocketFlags.None,
new AsyncCallback(OnReceive),
null);
}
catch (ObjectDisposedException)
{ }
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
/// <summary>
/// Send a (Data) pack to the TCP Viewer
/// </summary>
/// <param name="pack">byte[1020] pack</param>
public void SendDataPack(byte[] pack)
{
try
{
byte[] nPack = new byte[1020];
pack.CopyTo(nPack, 4);
//Fill the info for the message to be send
ViewerData msgToSend = new ViewerData();
msgToSend.Message = nPack;
msgToSend.OPCommand = Command.DataPacket;
byte[] byteData = msgToSend.ToByte();
//Send it to the server
clientSocket.BeginSend(byteData, 0, byteData.Length, SocketFlags.None, new AsyncCallback(OnSend), null);
}
catch (Exception)
{
Console.WriteLine("Unable to send message to the server. OMLServerTCP: ");
}
}
