private void RecieveMessages()
{
if (stream.DataAvailable)
{
short msgId = ShittyNetUtility.ReadShort(stream);
switch (msgId)
{
case 0: //ping
lastPingRecieved = 0;
break;
case 1: //sensor data
Msg_In_SensorData msg = new Msg_In_SensorData();
msg.ReadMessage(stream);
messagesIn.Add(msg);
break;
case 2:
Console.WriteLine("completed");
messagesIn.Add(new Msg_In_Complete());
break;
default:
Console.WriteLine("unknown message!");
break;
}
}
}
public void SetData(Msg_In_SensorData msg)
{
ultrasoon = msg.Distance;
if (ultrasoon > 5000)
{
ultrasoon = 5000;
}
else if (ultrasoon < 0)
{
ultrasoon = 0;
}
pb_ultrasoon.Value = ultrasoon;
lf_Left = msg.LineLeft;
pbx_lf_L.BackColor = lf_Left ? Color.Green : Color.Red;
lf_Mid = msg.LineMid;
pbx_lf_m.BackColor = lf_Mid ? Color.Green : Color.Red;
lf_Right = msg.LineRight;
pbx_lf_r.BackColor = lf_Right ? Color.Green : Color.Red;
motorLeft = msg.MotorLeft;
pb_motor_L.Value = motorLeft;
motorRight = msg.MotorRight;
pb_motor_R.Value = motorRight;
}
protected virtual void OnSensorData(Msg_In_SensorData msg_In_SensorData)
{
}
protected override void OnSensorData(Msg_In_SensorData msg_In_SensorData)
{
((frm_Sensors)form).SetData(msg_In_SensorData);
}
