private void sensor1type_SelectedIndexChanged(object sender, EventArgs e)
{
config.sensorType[0] = NXT_ROVER_CONTROL.sensorTypes[sensor1type.SelectedIndex];
//update
NXT_ROVER_CONTROL.setSensors();
}
private void timer2_Tick(object sender, EventArgs e)
{
if (config.sensor_auto_on_off)
{
string temp, sql;
TimeSpan ts = (DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0));
double unixTime = ts.TotalSeconds;
//send commands
nxt_result[] cmd = new nxt_result[4];
temp = "";
if (sensor1type.SelectedIndex != -1)
{
cmd[0] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 1");
temp += "Sensor 1: " + cmd[0].value + "\n";
}
if (sensor2type.SelectedIndex != -1)
{
cmd[1] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 2");
temp += "Sensor 2: " + cmd[1].value + "\n";
}
if (sensor3type.SelectedIndex != -1)
{
cmd[2] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 3");
temp += "Sensor 3: " + cmd[2].value + "\n";
}
if (sensor4type.SelectedIndex != -1)
{
cmd[3] = NXT_ROVER_CONTROL.command_translation("cmd sensor value 4");
temp += "Sensor 4: " + cmd[3].value + "\n";
}
//update database
sql = "INSERT INTO `rover`.`sensors` (`ID`, `when`, `result`) VALUES (NULL, '" + unixTime.ToString().Replace(',', '.') + "', '" + temp + "');";
mysql.QueryCommand(sql);
//show
if (temp.Length < 5)
{
status.Text = "Please select type of sensor below.";
}
else
{
status.Text = temp;
}
}
}
public static void check()
{
TimeSpan ts = (DateTime.UtcNow - new DateTime(1970, 1, 1, 0, 0, 0));
double unixTime = ts.TotalSeconds;
mysql_results res = new mysql_results();
nxt_result result = new nxt_result();
//check mysql conntection
if (mysql.connection.State == ConnectionState.Open || mysql.connection.State == ConnectionState.Connecting)
{
res = mysql.QueryCommand("SELECT `ID`,`message`,`when` FROM `log_current_session` WHERE `status`='' AND `when`< '" + unixTime.ToString().Replace(',', '.') + "' AND `when`> '" + (unixTime - 100).ToString().Replace(',', '.') + "' AND `type`='cmd' ORDER BY `when` ASC LIMIT 0,1");
if (res.result)
{
IrcBot.log += DateTime.Now + "checking(" + res.msg + ")...";
result = NXT_ROVER_CONTROL.command_translation(res.msg);
if (result.result)
{
//true
cmd.CommandText = "UPDATE `log_current_session` SET `status`='" + result.value + "', `when`='" + unixTime.ToString().Replace(',', '.') + "' WHERE `ID`=" + res.ID;
cmd.CommandType = CommandType.Text;
MySqlDataReader reader = cmd.ExecuteReader();
reader.Close();
IrcBot.log += "succed\n";
}
else
{
//false
cmd.CommandText = "UPDATE `log_current_session` SET `status`='" + result.value + "' WHERE `ID`=" + res.ID;
cmd.CommandType = CommandType.Text;
MySqlDataReader reader = cmd.ExecuteReader();
reader.Close();
IrcBot.log += "faild\n";
}
}
}
else
{
//make connecion
IrcBot.log += "Mysql connection faild";
mysql.connect();
}
}
private void send_command_Click(object sender, EventArgs e)
{
command.Text = NXT_ROVER_CONTROL.command_translation(command.Text).value;
}
public static void run_irc()
{
NetworkStream stream;
TcpClient irc;
string inputLine;
StreamReader reader;
try
{
irc = new TcpClient(SERVER, PORT);
stream = irc.GetStream();
reader = new StreamReader(stream);
writer = new StreamWriter(stream);
// Start PingSender thread
//PingSender ping = new PingSender ();
//ping.Start();
inputLine = reader.ReadLine();
log += inputLine + "\n";
//MessageBox.Show(inputLine);
ident();
IrcBot.log += "IRC chat ready\n";
nxt_result result = new nxt_result();
while (true)
{
while ((inputLine = reader.ReadLine()) != null)
{
//log += inputLine + "\n";
if (inputLine.Contains("PING"))
{
// inputLine.Split(' ');
//MessageBox.Show(inputLine);
//MessageBox.Show(inputLine.Substring(inputLine.IndexOf(" ") + 2));
//log += "send: " + "PONG " + inputLine.Substring(inputLine.IndexOf(" ") + 2) + "\n";
writer.WriteLine("PONG " + inputLine.Substring(inputLine.IndexOf(" ") + 2));
writer.Flush();
}
if (inputLine.Contains("Register first."))
{
ident();
}
if (inputLine.Contains(CHANNEL + " :"))
{
//echo
// :[email protected] PRIVMSG #control :hello
mes_buffer = inputLine.Substring(inputLine.IndexOf(CHANNEL + " :") + CHANNEL.Length + 2);
log += mes_buffer + "\n";
if (mes_buffer.StartsWith("cmd "))
{
result = NXT_ROVER_CONTROL.command_translation(mes_buffer);
if (result.result)
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result " + result.value);
writer.Flush();
}
else
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result faild");
writer.Flush();
}
}
else
{
writer.WriteLine(":" + NICK + "! PRIVMSG " + CHANNEL + " :Result false, Not a command");
writer.Flush();
}
}
}
// Close all streams
writer.Close();
reader.Close();
irc.Close();
}
}
catch (Exception e)
{
// Show the exception, sleep for a while and try to establish a new connection to irc server
log += e.Message.ToString() + "\n";
timesleep *= 2;
Thread.Sleep(timesleep);
run_irc();
}
}
