static void Main(string[] args)
{
Console.WindowWidth = 100;
Console.ResetColor();
System_Setup();
Thread Robot_Listener = new Thread(CL_TCPListener.Run_Listener);
Robot_Listener.Start(0);
Thread Control_Listener = new Thread(CL_TCPListener.Run_Listener);
Control_Listener.Start(100);
ConsoleKey key;
do
{
while (!Console.KeyAvailable)
{
Monitor_Incoming_Data();
}
key = Console.ReadKey(true).Key;
Console.ResetColor();
Console.ForegroundColor = ConsoleColor.Yellow;
Console.WriteLine("[20]\t'" + Console.ReadKey(true).Key + "' Key Pressed.");
if (key == ConsoleKey.S)
{
string Command_String = CL_Drive_Commands.Basic_Transmission(001, 000, 256, 256, 256);
string[] Function_Data = new string[] { "1", Command_String };
Thread Robot_Send = new Thread(CL_TCPClient.Connect);
Robot_Send.Start(Function_Data);
}
else if (key == ConsoleKey.Escape)
{
Console.ResetColor();
Console.WriteLine("[00]\tExiting Program.");
Thread.Sleep(3000);
Environment.Exit(0);
}
} while (key != ConsoleKey.Escape);
}
private static void Monitor_Incoming_Data()
{
if (CL_Global_Variables.Received_Data != CL_Global_Variables.Memory_Received_Data)
{
Console.ResetColor();
Console.WriteLine("[00]\t[127.0.0.1][System]\tAnalysing New Data Block.");
CL_Global_Variables.Memory_Received_Data = CL_Global_Variables.Received_Data;
if (CL_Global_Variables.Received_Data.Length >= 3)
{
string Category_Substring = CL_Global_Variables.Received_Data.Substring(0, 3);
switch (Category_Substring)
{
case "001": // <<< MODE
// MODE:UNIT-ID:???:???:???
Console.ResetColor();
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("[00]\t[127.0.0.1][System]\tSensor Response.");
break;
case "002": // <<< MODE
// MODE:UNIT-ID:X-AXIS:Y-AXIS:Z-AXIS
Console.ResetColor();
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("[00]\t[127.0.0.1][System]\tController Response.");
int[] Translation = CL_Sensor_Feedback.Transate_Controller_Commands(CL_Global_Variables.Received_Data);
string Command_String = CL_Drive_Commands.Basic_Transmission(001, Translation[0], Translation[1], Translation[2], Translation[3]);
string[] Function_Data = new string[] { "1", Command_String };
Thread Robot_Send = new Thread(CL_UDPClient.Connect);
Console.ResetColor();
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("[00]\t[127.0.0.1][System]\tSending Drive Command.");
Robot_Send.Start(Function_Data);
break;
default:
Console.ResetColor();
Console.ForegroundColor = ConsoleColor.Red;
Console.WriteLine("[00]\t[127.0.0.1][System]\tCould Not Determine.");
break;
}
}
}
else
{
}
}
