// Destruct all connections.
public void DeinitRobot()
{
if (checkStateThread != null)
{
checkStateThread.Abort();
}
if (checkStateThread2 != null)
{
checkStateThread2.Abort();
}
if (MessageReader1 != null)
{
MessageReader1.Close();
}
if (MessageReader2 != null)
{
MessageReader2.Close();
}
if (DataStream1 != null)
{
DataStream1.Close();
}
if (DataStream2 != null)
{
DataStream2.Close();
}
if (Client1 != null)
{
Client1.Close();
}
if (Client2 != null)
{
Client2.Close();
}
}
private void checkStateController()
{
while (true)
{
Thread.Sleep(1000);
if (Client2.Connected == false)
{
try
{
if (MessageReader2 != null)
{
MessageReader2.Close();
}
if (DataStream2 != null)
{
DataStream2.Close();
}
if (Client2 != null)
{
Client2.Close();
}
Client2 = new TcpClient();
Client2.NoDelay = true;
Client2.Connect(IPAddress.Parse(ip), MessagePort);
if (Client2.Connected)
{
DataStream2 = Client1.GetStream();
MessageReader2 = new StreamReader(DataStream2);
}
}
catch (ArgumentNullException ex1)
{
Console.WriteLine("ArgumentNullException = " + ex1);
}
catch (SocketException ex2)
{
Console.WriteLine("SocketException = " + ex2);
}
catch (Exception e)
{
Console.WriteLine("Exception = " + e);
}
}
}
}
public string GetMessage()
{
char[] data = new char[1000];
string message;
int ret, i;
try
{
if (Client2 != null && Client2.Connected == true)
{
ret = MessageReader2.Read(data, 0, 500); //read message char[], int index, int count
if (ret == -1)
{
return(null);
}
for (i = 0; data[i] != Convert.ToChar(0);)
{
if (data[i] == 0x0d)
{
data[i] = Convert.ToChar(0); // int(0) to char(null)
}
else
{
i++;
}
}
message = CharArrayToString(data, i);
return(message);
}
}
catch (ArgumentException ex1)
{
Console.WriteLine("ArgumentException = " + ex1);
}
catch (IOException ex3)
{
Console.WriteLine("IOException = " + ex3);
}
catch (Exception e)
{
Console.WriteLine("Exception = " + e);
}
return(null);
}
