public void OnPong(
sbyte link_id,
ref Protonet.Header header,
ref Protonet.Pong rx_msg,
Protonet.Node node)
{
}
static void Main(string[] args)
{
/*Create a protonet node at specified node id (2)*/
Protonet.Node UgvNode = new Protonet.Node(2);
/*Construct class to hold all callbacks and behaviors*/
ProtonetCallbacks UgvCallbacks = new ProtonetCallbacks();
/*Create a link id variable to reference a created datalink*/
sbyte link_id = 0;
/*
* Register the methods of the callback class with Protonet
* Note that this is not a HARDWARE register. It passes the callback
* so the handler can execute it when the respective message is received
*/
UgvNode.RegisterPingEvent(UgvCallbacks.OnPing);
UgvNode.RegisterPongEvent(UgvCallbacks.OnPong);
/*Add a new datalink to the Protonet session and establish an endpoint*/
UgvNode.AddUDPDatalink(out link_id, 1337);
UgvNode.EstablishUDPEndpoint(link_id, 2, 1337, "127.0.0.1");
/*Loop forever*/
while (true)
{
System.Threading.Thread.Sleep(1000);
UgvNode.SendPing(2, 0);
}
}
public void OnPing(
sbyte link_id,
ref Protonet.Header header,
ref Protonet.Ping rx_msg,
Protonet.Node node)
{
Console.WriteLine("Output stuff");
}
