static void Main(string[] args)
{
LoCoMoCo MyBot = new LoCoMoCo("COM3"); // com port number
var MainToken = new CancellationTokenSource(); //create token for the cancel
UdpClient MainServerSocket = new UdpClient(15000); // declare a client
byte[] MainDataReceived = new byte[1024]; // prepare container for received data
string MainStringData = "";
Capture capture = new Capture(); // declare object for camera
Image<Bgr, Byte> frame; // declare image for capture
int TotalMessageCount = 0;
while (true) // this while for keeping the main server "listening"
{
try {
frame = capture.QueryFrame();
Console.WriteLine("Waiting for a UDP client..."); // display stuff
IPEndPoint MainClient = new IPEndPoint(IPAddress.Any,0); // prepare a client
MainDataReceived = MainServerSocket.Receive(ref MainClient); // receive packet
MainStringData = Encoding.ASCII.GetString(MainDataReceived, 0, MainDataReceived.Length); // get string from packet
Console.WriteLine("Response from " + MainClient.Address); // display stuff
Console.WriteLine("Message " + TotalMessageCount++ + ": " + MainStringData + "\n"); // display client's string
if (MainStringData.Equals("Picture"))
{
MainToken = new CancellationTokenSource(); // new cancellation token every iteration
Task.Run(() => SendPicture(MainServerSocket, MainClient, frame), MainToken.Token); //start method on another thread
}
if (MainStringData.Equals("StopV"))
MainToken.Cancel();
else if (MainStringData.Equals("Forward"))
MyBot.forward();
else if (MainStringData.Equals("Backward"))
MyBot.backward();
else if (MainStringData.Equals("Left"))
MyBot.turnleft();
else if (MainStringData.Equals("Right"))
MyBot.turnright();
else if (MainStringData.Equals("Stop"))
MyBot.stop();
} catch (Exception e)
{ }
}
}
public Form1()
{
InitializeComponent();
mc = new LoCoMoCo("COM7");
}