public void Run()
{
/*
* Se inicia el SocketTcpServer.
*/
server.Start();
// Espero a que conecte
while (server.ClientsConnected == 0)
{
Thread.Sleep(10);
}
//Inicia timer
sw.Start();
/*
* Se crea la variable mediante
* create_var "variable|0"
*/
server.SendToAll("create_var \"odometryPos|0\"");
/*
* Realizo la suscripcion. Para el ejemplo no me interesa verificar lo
* que responde el Blackboard, pero todo llega a
* server_DataReceived(...)
* incluso la basura, y se imprime en pantalla.
*
* Nota que hay un error y dice "suscribe" en lugar de "subscribe".
* Esto cambiara en la siguiente version, por lo que puedes programar
* con "subscribe".
*/
server.SendToAll("suscribe_var \"localizerPos suscribe=writeany report=content\"");
/*
* La suscripcion es para la variable 'variable'
* reportando cuando cualquier modulo escriba y reportando todo
* el contenido de la variable.
*
* Ahora realizo 100 escrituras a intervalo de 100ms aprox.
* Se reporta el tiempo de demora.
*/
for (int i = 0; i < 100000; ++i)
{
// Se obtiene el valor a escribir en la variable en hex string
byte[] iData = BitConverter.GetBytes(i);
string sData = String.Empty;
for (int j = 0; j < iData.Length; ++j)
{
sData += iData[j].ToString("X2");
}
server.SendToAll("write_var \"odometryPos|0x" + sData + "\"");
Thread.Sleep(100);
}
server.Stop();
sw.Stop();
}
/// <summary>
/// Sends a command to the module
/// </summary>
/// <param name="command">Response to send</param>
/// <returns>true if the command has been sent, false otherwise</returns>
public bool Send(Command command)
{
// Check if this module is the destination module for the command
if (this != command.Destination)
{
throw new Exception("Command marked to be sent through other module");
}
// Simulation mode
#region Simulation Mode
if (simOptions != SimulationOptions.SimulationDisabled)
{
//Response r = Response.CreateFromCommand(command, true);
dataReceived.Enqueue(
System.Text.ASCIIEncoding.Default.GetBytes(Response.CreateFromCommand(command, true).ToString())
);
return(true);
}
#endregion
// Check is connection has been stablished.
if (!server.Started)
{
return(false);
}
// Check if module is not busy and command is not a priority command
if (Busy && !command.Prototype.HasPriority)
{
return(false);
}
// Send the command
try
{
server.SendToAll(command.StringToSend + "\0");
if (command.Prototype.ResponseRequired)
{
Lock(command);
}
}
catch { return(false); }
return(true);
}
/// <summary>
/// Sends data through server socket
/// </summary>
/// <param name="s">String to send</param>
/// <returns>true if data was sent successfully, false otherwise</returns>
protected bool serverSend(string s)
{
int count;
if (tcpServer.ClientsConnected < 1)
{
return(false);
}
if (tcpServer.Started)
{
lock (tcpServer)
{
count = tcpServer.SendToAll(s.Trim());
}
//Console("Sent to " + count.ToString() + " clients on server: " + s);
return(true);
}
else
{
//Console("Can`t Send through server [Client TCP]: " + (s.Length > 100 ? s.Substring(0, 100) : s));
return(false);
}
}
private void btnServerSend_Click(object sender, EventArgs e)
{
if (txtServerInput.Text.Length > 0)
{
#if BENCHMARK
stopwatch.Reset();
stopwatch.Start();
#endif
server.SendToAll(txtServerInput.Text);
textForServerConsole = "[Sent: " + txtServerInput.Text.Substring(0, Math.Min(txtServerInput.Text.Length, 50)) + "]";
this.Invoke(updateServerConsoleEH);
if (!txtServerInput.AutoCompleteCustomSource.Contains(txtServerInput.Text))
{
txtServerInput.AutoCompleteCustomSource.Add(txtServerInput.Text);
}
txtServerInput.Text = "";
}
txtServerInput.Focus();
}
