private static void Main(string[] args)
{
using (LinkUpTcpClientConnector connector = new LinkUpTcpClientConnector(IPAddress.Parse("127.0.0.1"), 3000))
//using (LinkUpTcpClientConnector connector = new LinkUpTcpClientConnector(IPAddress.Parse("127.0.0.1"), 3000))
{
connector.ReveivedPacket += ClientToServer_ReveivedPacket;
connector.SentPacket += ClientToServer_SentPacket;
connector.MetricUpdate += Connector_MetricUpdate;
connector.ConnectivityChanged += Connector_ConnectivityChanged;
node = new LinkUpNode();
node.Name = "leaf";
node.AddSubNode(connector);
LinkUpEventLabel eventLabel = node.GetLabelByName <LinkUpEventLabel>("leaf/test/label_event");
func = node.GetLabelByName <LinkUpFunctionLabel>("leaf/test/label_function");
func.Return += Func_Return;
eventLabel.Subscribe();
eventLabel.Fired += Program_Fired;
Console.Read();
connector.Dispose();
}
}
private void UpdateSubscription()
{
if (ProxyMode == IOProxyMode.Live)
{
if (_CameraEventLabel != null && _ImuEventLabel != null && _CameraImuEventLabel != null)
{
if (_Subscriptions.Any(c => c.Item2 == ProxyEventType.CameraEvent) && _Subscriptions.Any(c => c.Item2 == ProxyEventType.ImuEvent) || _Subscriptions.Any(c => c.Item2 == ProxyEventType.CameraImuEvent))
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_CameraImuEventLabel.Subscribe();
}
}
catch (Exception) { }
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_ImuEventLabel.Unsubscribe();
}
}
catch (Exception) { }
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_CameraEventLabel.Unsubscribe();
}
}
catch (Exception) { }
}
else
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_CameraImuEventLabel.Unsubscribe();
}
}
catch (Exception) { }
if (_Subscriptions.Any(c => c.Item2 == ProxyEventType.CameraEvent))
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_CameraEventLabel.Subscribe();
}
}
catch (Exception) { }
}
else
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_CameraEventLabel.Unsubscribe();
}
}
catch (Exception) { }
}
if (_Subscriptions.Any(c => c.Item2 == ProxyEventType.ImuEvent))
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_ImuEventLabel.Subscribe();
}
}
catch (Exception) { }
}
else
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_ImuEventLabel.Unsubscribe();
}
}
catch (Exception) { }
}
}
}
}
//else if (ProxyMode == IOProxyMode.Offline)
//{
// try
// {
// if (ConnectivityState == LinkUpConnectivityState.Connected)
// _CameraEventLabel.Unsubscribe();
// }
// catch (Exception) { }
// try
// {
// if (ConnectivityState == LinkUpConnectivityState.Connected)
// _ImuEventLabel.Unsubscribe();
// }
// catch (Exception) { }
// try
// {
// if (ConnectivityState == LinkUpConnectivityState.Connected)
// _CameraImuEventLabel.Unsubscribe();
// }
// catch (Exception) { }
//}
if (_SlamMapEventLabel != null)
{
if (_Subscriptions.Any(c => c.Item2 == ProxyEventType.SlamMapEvent))
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_SlamMapEventLabel.Subscribe();
}
}
catch (Exception) { }
}
else
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_SlamMapEventLabel.Unsubscribe();
}
}
catch (Exception) { }
}
}
if (_SlamStatusEventLabel != null)
{
if (_Subscriptions.Any(c => c.Item2 == ProxyEventType.SlamStatusEvent))
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_SlamStatusEventLabel.Subscribe();
}
}
catch (Exception) { }
}
else
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_SlamStatusEventLabel.Unsubscribe();
}
}
catch (Exception) { }
}
}
if (_ImuDerivedEventLabel != null)
{
if (_Subscriptions.Any(c => c.Item2 == ProxyEventType.ImuDerivedEvent))
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_ImuDerivedEventLabel.Subscribe();
}
}
catch (Exception) { }
}
else
{
try
{
if (ConnectivityState == LinkUpConnectivityState.Connected)
{
_ImuDerivedEventLabel.Unsubscribe();
}
}
catch (Exception) { }
}
}
}