private static void SendCallBack(IAsyncResult ar)
{
Socket handler = (Socket)ar.AsyncState;
int bytesSent = handler.EndSend(ar);
Console.WriteLine("Sent {0} bytes to client.", bytesSent);
handler.Shutdown(SocketShutdown.Both);
handler.Close();
StartBoth._TCPlistening = false;
StartBoth.ListeningMessage();
}
/// <summary>
/// Goes here after receiving a signal
/// </summary>
public static void ReadCallBack(IAsyncResult res)
{
UdpClient client = (UdpClient)res.AsyncState;
IPEndPoint RemoteIPEndPoint = new IPEndPoint(IPAddress.Any, listenPort);
Console.WriteLine("----------------------");
Console.WriteLine("UDP Connection made. Receiving data...");
byte[] received = client.EndReceive(res, ref RemoteIPEndPoint);
listenPort = ((IPEndPoint)client.Client.LocalEndPoint).Port;
Console.WriteLine("Data received from: {0} at Port: {1}", RemoteIPEndPoint.Address.ToString(), listenPort.ToString());
Console.WriteLine("Sending back changed position for debugging/testing purposes...");
using (MemoryStream ms = new MemoryStream())
{
ms.Write(received, 0, received.Length);
ms.Position = 0;
if (listenPort == 8888)
{
replyPort = 9999;
MessageParser<RobotStructure> parser = new MessageParser<RobotStructure>(() => new RobotStructure());
receivedStructure = parser.ParseFrom(ms);
receivedStructure.RootJointID = 1;
ms.Position = 0;
SendBackStructure(receivedStructure);
}
else if (listenPort == 7777)
{
replyPort = 6666;
MessageParser<PositionList> parser = new MessageParser<PositionList>(() => new PositionList());
receivedList = parser.ParseFrom(ms);
receivedList.PList[0].Rotation = 30;
ms.Position = 0;
SendBackPositions(receivedList);
}
else if (listenPort == 1234)
{
replyPort = 4321;
MessageParser<MeshList> parser = new MessageParser<MeshList>(() => new MeshList());
receivedMeshes = parser.ParseFrom(ms);
Console.WriteLine("RECEIVED MESHES... LENGTH = {0}", receivedMeshes.Meshes.Count);
StartBoth.ListeningMessage();
StartBoth._MeshListening = false;
}
}
}
public static void SendBackPositions(PositionList received)
{
using (MemoryStream ms = new MemoryStream())
{
received.WriteTo(ms);
Socket tempSocket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
IPEndPoint replyEndPoint = new IPEndPoint(IPAddress.Parse("127.0.0.1"), replyPort);
ms.Position = 0;
tempSocket.SendTo(received.ToByteArray(), replyEndPoint);
tempSocket.Close();
}
Console.WriteLine("Data sent!");
StartBoth.ListeningMessage();
StartBoth._Positionlistening = false;
}
