private void oscReceiverWorker_DoWork(object sender, DoWorkEventArgs e)
{
UDPListener udpListener = null;
bool reinit = true;
OscMessage messageReceived = null;
int nameUpdateCounter = 0;
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
while (runThread)
{
try
{
if (udpListener == null || reinit)
{
try
{
udpListener = new UDPListener(PORT);
reinit = false;
}
catch (Exception)
{
Console.WriteLine("Couldn't create udp listener");
}
}
/**
* Tuning Packet Descriptor
* Actual Value, Requested Value, IAccum, System Name
*/
if (!initCompleted)
{
//Initialize the connection
sendIAccumReset();
initCompleted = true;
}
messageReceived = (OscMessage)udpListener.Receive();
if (messageReceived != null)
{
switch (messageReceived.Address)
{
case "/PIDData":
double timestamp = (DateTime.Now - programLaunchTime).TotalSeconds;
double actualVal = (double)messageReceived.Arguments[0];
double requestedVal = (double)messageReceived.Arguments[1];
dataChart.Invoke((MethodInvoker) delegate()
{
dataChart.Series[0].Points.AddXY(timestamp, actualVal);
dataChart.Series[1].Points.AddXY(timestamp, requestedVal);
for (int i = 0; i < dataChart.Series.Count; i++)
{
while (dataChart.Series[i].Points.Count > CONSTRAINED_CHART_SIZE)
{
dataChart.Series[i].Points.RemoveAt(0);
}
}
dataChart.ResetAutoValues();
});
if (stopWatch.ElapsedMilliseconds > 200)
{
//Update TextBox UI Every 200ms to avoid slowing down the app
double iAccum = (double)messageReceived.Arguments[2];
double err = requestedVal - actualVal;
averageError.AddEntry(err);
txtActualVal.Invoke((MethodInvoker) delegate { txtActualVal.Text = actualVal.ToString("0.####"); });
txtDesiredVal.Invoke((MethodInvoker) delegate { txtDesiredVal.Text = requestedVal.ToString("0.####"); });
txtDeviation.Invoke((MethodInvoker) delegate { txtDeviation.Text = err.ToString("0.####"); });
txtAverageDev.Invoke((MethodInvoker) delegate { txtAverageDev.Text = averageError.Average.ToString("0.####"); });
txtIAccum.Invoke((MethodInvoker) delegate { txtIAccum.Text = iAccum.ToString("0.####"); });
if (nameUpdateCounter++ % 5 == 0)
{
txtSysName.Invoke((MethodInvoker) delegate { txtSysName.Text = (string)messageReceived.Arguments[3]; });
}
stopWatch.Restart();
}
break;
default:
break;
}
}
Thread.Sleep(1);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
try
{
udpListener.Close();
}
catch (Exception)
{
}
reinit = true;
}
}
udpListener.Close();
}