private static byte[] AddPayloadHeader(CrossCommand crossCommand, byte[] payload)
{
//Debug.WriteLine("### Command sending: " + crossCommand);
var payloadLength = payload.Length;
var header = new List <byte>
{
SYNC_MASK,
SYNC_MASK,
(byte)crossCommand,
(byte)(payloadLength >> 16),
(byte)((payloadLength >> 8) & 0x00ff),
(byte)(payloadLength & 0x0000ff)
};
var fullPayload = header.Concat(payload).ToArray();
//if (crossCommand != CrossCommand.CapturedImage &&
// crossCommand != CrossCommand.PreviewFrame)
//{
// Debug.WriteLine("### PAYLOAD SENT: " + string.Join(",", fullPayload));
//}
return(fullPayload);
}
public static int Main(String[] args)
{
Console.Title = Robot + "CrossCommServer";
CrossCommand crossServer = new CrossCommand();
Object Cross = new Object();
Console.WriteLine("initialization");
crossServer.Init(Cross);
Console.WriteLine("trying to connect to CrossComm");
crossServer.ConnectToCross(connectionName, connectionMode);
bool done = false;
while (crossServer.CrossIsConnected)
{
Console.WriteLine("Create TCP listener...");
TcpListener listener = new TcpListener(ipKUKA_PC, portNum);
listener.Start();
byte[] byteReceived = new byte[1024];
int i_bytesReceived;
while (!done)
{
Console.Write("Waiting for connection...");
TcpClient client = listener.AcceptTcpClient();
Console.WriteLine("Connection accepted.");
NetworkStream ns_ReadWriteVariables = client.GetStream();
try
{
StringReceived = "";
numOfStringsReceived = 0;
i_bytesReceived = ns_ReadWriteVariables.Read(byteReceived, 0, byteReceived.Length);
StringReceived = Encoding.ASCII.GetString(byteReceived, 0, i_bytesReceived);
Console.WriteLine("String Received: " + StringReceived);
if (StringReceived != "")
{
a_StringReceived = StringReceived.Split(',');
firstString = a_StringReceived[0];
VariableToWriteRead = a_StringReceived[1];
ValueToWrite = a_StringReceived[2];
numOfStringsReceived = Convert.ToInt32(a_StringReceived[3]);
Console.WriteLine(a_StringReceived[0] + a_StringReceived[1] + a_StringReceived[2] + a_StringReceived[3]);
Console.WriteLine("Number Of variables: " + numOfStringsReceived.ToString());
// Writing to the KRC1
if (firstString == "write")
{
if (VariableToWriteRead == "empty" || ValueToWrite == "empty")
{
continue;
}
else if ((!(VariableToWriteRead == "empty")) && (!(ValueToWrite == "empty")))
{
// KOD ZA PISANJE U KUKU
crossServer.SetVar(VariableToWriteRead, ValueToWrite);
}
Console.WriteLine("WRITING..." + " " + DateTime.Now.TimeOfDay.ToString());
Console.WriteLine(VariableToWriteRead + " " + ValueToWrite + " " + DateTime.Now.TimeOfDay.ToString());
}
// Reading from the KRC1
if (firstString == "read")
{
String[] a_readVariables = new String[numOfStringsReceived];
String[] a_readValues = new String[numOfStringsReceived];
String[] a_readVarValues_ToSendBackToClient = new String[numOfStringsReceived];
String readValues = "";
Console.WriteLine("READING... " + " " + DateTime.Now.TimeOfDay.ToString());
if (VariableToWriteRead == "empty")
{
continue;
}
else if (!(VariableToWriteRead == "empty"))
{
//citanje sa KUKE
crossServer.ShowVar(VariableToWriteRead, ref ValueReadFromKUKA);
}
//Sending back values which have been read
a_readVarValues_ToSendBackToClient[0] = "readFromServer,";
a_readVarValues_ToSendBackToClient[1] = VariableToWriteRead + ",";
a_readVarValues_ToSendBackToClient[2] = ValueReadFromKUKA + ",";
a_readVarValues_ToSendBackToClient[3] = numOfStringsReceived.ToString() + ",";
Console.WriteLine(VariableToWriteRead + " " + ValueReadFromKUKA + " " + DateTime.Now.TimeOfDay.ToString());
foreach (String s in a_readVarValues_ToSendBackToClient)
{
readValues += s;
}
Console.WriteLine("Sending back read values... " + DateTime.Now.TimeOfDay.ToString());
byte[] byteReadValues = Encoding.ASCII.GetBytes(readValues);
try
{
ns_ReadWriteVariables.Write(byteReadValues, 0, byteReadValues.Length);
ns_ReadWriteVariables.Close();
client.Close();
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
}
StringReceived = "";
numOfStringsReceived = 0;
}
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
Console.ReadLine();
}
}
listener.Stop();
}
return(0);
}
