private void ConnectToMasterButtonClick(object sender, EventArgs e)
{
Surgery.Master.MyIPAddress = tb_ipAddress.Text;
if (User.ConnectToMaster())
{
try
{
TcpClient tCPClient = new TcpClient();
tCPClient.Connect(IPAddress.Parse(Surgery.Master.MyIPAddress), connectionPort);
SocketMessage sm = new SocketMessage(Surgery, User);
SocketData.SendTCPDataTo(tCPClient, SocketData.SerializeObject<SocketMessage>(sm));
//start listening for master's position
SocketData.IsListeningForData = true;
Thread t1 = new Thread(new ThreadStart(SocketData.ListenForData));
t1.IsBackground = true;
t1.Start();
VideoCapture.IsListeningForVideo = true;
Thread t2 = new Thread(new ThreadStart(VideoCapture.ListenForVideo));
t2.IsBackground = true;
t2.Start();
Markup.IsListeningForMarkup = true;
Thread t3 = new Thread(new ThreadStart(Markup.ListenForMarkup));
t3.IsBackground = true;
t3.Start();
Thread t4 = new Thread(new ThreadStart(listenForGrantReq));
t4.IsBackground = true;
t4.Start();
if (User.HasOmnis)
{
lbl_Connections.Text = "Connected to: ";
string dir = Path.Combine(System.IO.Directory.GetCurrentDirectory(), @"..\..\Content\pc.png");
Image pcImg = Image.FromFile(dir);
ToolStripItem newItem = new ToolStripButton("Master", pcImg, sendClientGrantReq, "btn_Master");
newItem.ToolTipText = tb_ipAddress.Text;
ss_Connections.Items.Add(newItem);
btn_ReqControl.Enabled = true;
}
else
{
lbl_Connections.Text = "Connected to: Master";
}
lbl_Connections.Visible = true;
gb_SendingLeft.Visible = true;
tb_SendingLeft.Visible = true;
gb_SendingRight.Visible = true;
tb_SendingRight.Visible = true;
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
ConnectToMasterButton.Enabled = !User.ConnectedToMaster;
tb_ipAddress.Enabled = !User.ConnectedToMaster;
btn_zeroForces.Enabled = User.ConnectedToMaster;
groupBox3.Enabled = User.ConnectedToMaster;
tb_forces.Enabled = User.ConnectedToMaster;
lbl_forceStrength.Enabled = User.ConnectedToMaster;
trb_forceStrength.Enabled = User.ConnectedToMaster;
}
private void btn_ClearMarks_Click(object sender, EventArgs e)
{
Markup.MyMarkings.Clear();
tmpPoints = new List<Point>();
if (!User.IsMaster)
{
SocketMessage sm = new SocketMessage(Surgery, User);
sm.ClearMarkingsReq = true;
SocketData.SendUDPDataTo(IPAddress.Parse(Surgery.Master.MyIPAddress), SocketData.SerializeObject<SocketMessage>(sm));
}
else
Markup.ClearMarkingsReq = true;
}
private void UnderlyingTimerTick(object sender, EventArgs e)
{
try
{
//Get current position
OmniPosition currentPos = new OmniPosition();
if( User.HasOmnis )
{
currentPos = User.GetOmniPositions();
}
showOmniPositions(currentPos);
if (User.IsInControl)
{
Surgery.UserInControl = User;
if (telSurgeOnly && User.IsFrozen)
{
Surgery.InControlPosition = User.FrozenPosition;
}
else
Surgery.InControlPosition = currentPos;
if (!User.IsMaster)
{
//Only send data to Master while InControl
SocketData.SendUDPDataTo(IPAddress.Parse(Surgery.Master.MyIPAddress), SocketData.CreateMessageToSend());
messageCount++;
}
//Check for freeze button press
if (telSurgeOnly && this.User.CheckForFreeze(currentPos))
Freeze();
//Display Frozen status
if (User.IsFrozen)
tb_InControl.Text = "You are frozen.";
else
tb_InControl.Text = "You are in control!";
}
else
{
if (User.IsMaster)
{
//check for emergency switch
if (this.User.CheckForEmergencySwitch(currentPos))
emergencySwitchControl();
}
//Check for following
this.User.CheckIfFollowing(currentPos);
if (User.IsFollowing)
User.OmniFollow(Surgery.InControlPosition);
else
User.SetOmniForce(new OmniPosition());
}
if (User.IsMaster)
{
//Master always sends data
if (Surgery.ConnectedClients.Count > 0)
SocketData.MasterSendData();
//Check for "stay alive" from clients
foreach (User u in Surgery.ConnectedClients)
{
if (DateTime.Now.Subtract(u.LastHeardFrom).Seconds > 30)
{
disconnectClient(u);
break;
}
}
}
else
{
//Send "stay alive to Master
if (User.ConnectedToMaster)
{
if (DateTime.Now.Subtract(User.LastHeardFrom).Seconds > 20)
{
TcpClient tCPClient = new TcpClient();
tCPClient.Connect(IPAddress.Parse(Surgery.Master.MyIPAddress), connectionPort);
SocketMessage sm = new SocketMessage(Surgery, User);
SocketData.SendTCPDataTo(tCPClient, SocketData.SerializeObject<SocketMessage>(sm));
User.LastHeardFrom = DateTime.Now;
}
}
}
//Update and show output data (RobotApp)
if (Surgery.InControlPosition != null)
{
OutputPosition = Surgery.InControlPosition;
showOutputPosition();
}
}
catch (Exception ex)
{
UnderlyingTimer.Enabled = false;
ShowError("An error occured during routine program timer. Application must be reset.", ex.Message + " => " + ex.ToString());
}
}
public bool ConnectToMaster()
{
TcpClient c = new TcpClient();
try
{
c.Connect(IPAddress.Parse(Main.Surgery.Master.MyIPAddress), connectionPort);
}
catch (SocketException ex)
{
if (ex.SocketErrorCode == SocketError.TimedOut)
Main.ShowError("Cannot connect to Master... Try Again.", ex.Message);
else
Main.ShowError(ex.Message, ex.ToString());
}
ConnectedToMaster = c.Connected;
if (ConnectedToMaster)
{
SocketMessage sm = new SocketMessage(Main.Surgery, this);
Main.SocketData.SendTCPDataTo(c, SocketData.SerializeObject<SocketMessage>(sm));
}
return ConnectedToMaster;
}
private void disconnect(string ipAddress)
{
try
{
if (cb_isMaster.Checked)
{
//if disconnected client was in control, take control
if (inControlIP.Equals(ipAddress))
{
inControlIsFrozen = true;
switchControl(true, GetMyIP());
}
connectedClients.Remove(ipAddress);
foreach (ToolStripItem itm in ss_Connections.Items)
{
if (itm.ToolTipText != null && itm.ToolTipText.Equals(ipAddress))
{
ss_Connections.Items.Remove(itm);
break;
}
}
if (connectedClients.Count < 1)
{
lbl_Connections.Text = "Connections: None";
}
}
else
{
//send disconnect to Master
SocketMessage sm = new SocketMessage(myName, GetMyIP());
using (TcpClient c = new TcpClient())
{
c.Connect(IPAddress.Parse(tb_ipAddress.Text), connectionPort);
Stream s = c.GetStream();
string json = JsonConvert.SerializeObject(sm);
byte[] arry = Encoding.ASCII.GetBytes(json);
s.Write(arry, 0, arry.Length);
}
}
logMessage("Successfully disconnected.", "This machine was successfully disconnected with the surgery.", Logging.StatusTypes.Running);
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
private void ConnectToMasterButtonClick(object sender, EventArgs e)
{
TcpClient c = new TcpClient();
try
{
c.Connect(IPAddress.Parse(tb_ipAddress.Text), connectionPort);
}
catch (SocketException ex)
{
if (ex.SocketErrorCode == SocketError.TimedOut)
ShowError("Cannot connect to Master... Try Again.", ex.Message);
else
ShowError(ex.Message, ex.ToString());
}
bool connected = c.Connected;
if (connected)
{
try
{
inControlIP = tb_ipAddress.Text;
SocketMessage sm = new SocketMessage(tb_InstanceName.Text, GetMyIP());
sm.hasOmnis = !cb_noOmnisAttached.Checked;
string json = JsonConvert.SerializeObject(sm);
byte[] arry = Encoding.ASCII.GetBytes(json);
Stream s = c.GetStream();
s.Write(arry, 0, arry.Length);
//start listening for master's position
isListeningForData = true;
Thread t1 = new Thread(new ThreadStart(listenForData));
t1.IsBackground = true;
t1.Start();
Thread t2 = new Thread(new ThreadStart(listenForVideo));
t2.IsBackground = true;
t2.Start();
Thread t3 = new Thread(new ThreadStart(sendMarkings));
t3.IsBackground = true;
t3.Start();
Thread t4 = new Thread(new ThreadStart(listenForGrantReq));
t4.IsBackground = true;
t4.Start();
if (!cb_noOmnisAttached.Checked)
{
lbl_Connections.Text = "Connected to: ";
string dir = Path.GetDirectoryName(exeFile);
Image pcImg = Image.FromFile(Path.Combine(dir, @"..\..\Content\pc.png"));
ToolStripItem newItem = new ToolStripButton("Master", pcImg, sendClientGrantReq, "btn_Master");
newItem.ToolTipText = tb_ipAddress.Text;
ss_Connections.Items.Add(newItem);
btn_ReqControl.Visible = true;
}
else
{
lbl_Connections.Text = "Connected to: Master";
}
lbl_Connections.Visible = true;
gb_SendingLeft.Visible = true;
tb_SendingLeft.Visible = true;
gb_SendingRight.Visible = true;
tb_SendingRight.Visible = true;
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
ConnectToMasterButton.Enabled = !connected;
tb_ipAddress.Enabled = !connected;
btn_zeroForces.Enabled = connected;
groupBox3.Enabled = connected;
tb_forces.Enabled = connected;
lbl_forceStrength.Enabled = connected;
trb_forceStrength.Enabled = connected;
btn_ReqControl.Enabled = connected;
}
private void sendDataTo(IPAddress addr)
{
Socket s = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
SocketMessage sm = new SocketMessage(myName, GetMyIP());
try
{
if (isFrozen)
sm.OmniPosition = frozenPosition;
else
sm.OmniPosition = inControlPosition;
sm.isFrozen = isFrozen;
string json = JsonConvert.SerializeObject(sm);
byte[] arry = Encoding.ASCII.GetBytes(json);
s.SendTo(arry, new IPEndPoint(addr, dataPort));
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
private void masterSendData()
{
Socket s = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
SocketMessage sm = new SocketMessage("Master", GetMyIP());
try
{
if (isFrozen)
sm.OmniPosition = frozenPosition;
else
sm.OmniPosition = inControlPosition;
sm.isFrozen = isFrozen;
string json = JsonConvert.SerializeObject(sm);
byte[] arry = Encoding.ASCII.GetBytes(json);
foreach (string a in connectedClients)
{
if (!a.Equals(inControlIP))
s.SendTo(arry, new IPEndPoint(IPAddress.Parse(a), dataPort));
}
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
