// Setup the system to server mode
private void InitializeServerMode()
{
lidar = new Lidar(config);
lidarStatus.Hide();
lidarStatusLabel.Hide();
ReplaceIP.Hide();
IPAddress serverLocalIP;
using (Socket socket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, 0)) {
socket.Connect("8.8.8.8", 65530);
serverLocalIP = (socket.LocalEndPoint as IPEndPoint).Address;
}
clearLog.Location = new Point(clearLog.Location.X, clearLog.Location.Y - 40);
saveLog.Location = new Point(saveLog.Location.X, saveLog.Location.Y - 40);
serverStatus.Location = new Point(serverStatus.Location.X, serverStatus.Location.Y - 35);
serverStatusLabel.Location = new Point(serverStatusLabel.Location.X, serverStatusLabel.Location.Y - 35);
serverIP.Location = new Point(serverIP.Location.X, serverIP.Location.Y - 40);
serverIPLabel.Location = new Point(serverIPLabel.Location.X, serverIPLabel.Location.Y - 40);
tableLayoutPanel1.SetColumnSpan(btnTerminal, 3);
tableLayoutPanel1.SetColumn(btnTerminal, 0);
receiveSocket = new ServerSocket(serverLocalIP, serverPort, ReceiveResults);
receiveSocket.StartListening();
pingThread = new Thread(ServerPing);
pingThread.IsBackground = true;
pingThread.Start();
}
private void InitializeDriverMode()
{
serverIP.Text = config.getServerIp();
string lidarIP = config.getLidarIp();
string lidarPort = config.getLidarPort();
lidar = new Lidar(config, lidarIP, int.Parse(lidarPort));
if (config.getControllerComName() != "כבוי")
{
SerialPortConnection();
}
if (config.getGPSComName() != "כבוי")
{
gps = new GPS(config);
gps.StartListening(GpsStatus);
gpsStatusLabel.Text = gps.getStatus();
gpsStatusLabel.ForeColor = gps.isFix ? Color.DarkGreen : Color.Red;
}
else
{
activeAlert.Columns.RemoveAt(1);
log.Columns.RemoveAt(2);
}
if (config.getInterntAdapter() != "כבוי")
{
new Thread(configServerConnection).Start();
}
}
// Decoding the received configuration
private void DecodeConfigFromDriver(string strConfig)
{
/* configArr[0] = Config key word
* configArr[1] = Vehicle Width
* configArr[2] = Sensor Height Setup
* configArr[3] = Sensor Angle Setup
* configArr[4] = Sensor Scan Resolution
* configArr[5] = Sensor Start Angle Scanning
* configArr[6] = Sensor Stop Angle Scanning
* configArr[7] = Side Low Alert
* configArr[8] = Side High Alert
* configArr[9] = Front Low Alert
* configArr[10] = Front High Alert
* configArr[11] = Hole Low Alert
* configArr[12] = Hole High Alert
* configArr[13] = Minimum Height Detected
*/
string[] configArr = strConfig.Split(' ');
if (configArr.Count() == 14)
{
config.setVehicleWidth(int.Parse(configArr[1]));
config.setSensorHeightSetup(int.Parse(configArr[2]));
config.setAngleSetup(int.Parse(configArr[3]));
config.setResolution(float.Parse(configArr[4]));
config.setStartAngle(int.Parse(configArr[5]));
config.setStopAngle(int.Parse(configArr[6]));
config.setSideLowAlert(int.Parse(configArr[7]));
config.setSideHighAlert(int.Parse(configArr[8]));
config.setFrontLowAlert(int.Parse(configArr[9]));
config.setFrontHighAlert(int.Parse(configArr[10]));
config.setHoleLowAlert(int.Parse(configArr[11]));
config.setHoleHighAlert(int.Parse(configArr[12]));
config.setMinimumHeightDetected(int.Parse(configArr[13]));
Invoke(new MethodInvoker(DistLabelSetup));
}
lidar = new Lidar(config);
}
public Terminal(Lidar lidar)
{
InitializeComponent();
this.lidar = lidar;
openSubMenu(new LidarTerminal(lidar));
}
public LidarTerminal(Lidar lidar)
{
InitializeComponent();
this.lidar = lidar;
}
