public EV3Robot(Communicator communicator, string name, Ev3Connection ev3Connection) : base(communicator, name, TypeRobot.Mindstorm)
{
if (ev3Connection == null)
{
throw new ArgumentNullException("ev3Connection");
}
if (!ev3Connection.Connected())
{
throw new InvalidOperationException("ev3 Connection is closed");
}
_ev3Connection = ev3Connection;
}
private async void _OnReceive()
{
while (_udpClient != null)
{
UdpReceiveResult results;
try
{
results = await _udpClient.ReceiveAsync();
}
catch (ObjectDisposedException)
{
continue;
}
string msgStr = Encoding.ASCII.GetString(results.Buffer);
Regex serialRegex = new Regex("Serial-Number: (.*)");
Regex portRegex = new Regex("Port: (.*)");
string serialNumber = null;
int port = -1;
Match match = serialRegex.Match(msgStr);
if (match.Success)
{
serialNumber = match.Groups[1].Value;
}
/* serialNumber != null && */
if (!_connectedSerials.Contains(serialNumber))
{
match = portRegex.Match(msgStr);
if (match.Success)
{
string tcpPortStr = match.Groups[1].Value.TrimEnd();
bool success = int.TryParse(tcpPortStr, out port);
if (!success)
{
port = -1;
}
}
_connectedSerials.Add(serialNumber);
SendUdpResponse(_udpClient, results.RemoteEndPoint);
TCPDataLink dl = EstablishTcpConnection(serialNumber,
results.RemoteEndPoint.Address, port);
Ev3Connection con = new Ev3Connection("EV3Wifi", dl);
Communicator communicator = null;
if (Tools.ConnectToUnity(out communicator, _unityIP.ToString(), _unityPort,
5000))
{
Console.WriteLine("Unity connected");
EV3Robot newRobot = new EV3Robot(communicator, "My ev3", con);
Tools.AssignRobot(communicator, newRobot);
_eventReceiver.OnRobotConnect(newRobot);
}
else
{
throw new Exception("Can't connect to unity...");
}
}
}
}