public void msgReceiver()
{
while (_threadIsAlive)
{
bool read_bytes = false;
byte[] msg = new byte[1024];
try
{
do
{
if (_socket != null && _closed == false)
{
_socket.ReceiveTimeout = 300;
this._socket.Receive(msg);
if (msg[0] == 2 && (Array.IndexOf(msg, 3) > -1))
{
_inport.disableInterrupt("msgrecieve");
read_bytes = true;
//process message (ACK, NAC, GetStatus, SetChannel
processMsg(msg);
_inport.enableInterrupt("msgrecieve");
}
}
else
{
read_bytes = false;
}
} while (read_bytes);
}
catch (SocketException ex)
{
if (ex.ErrorCode == 10060) // SocketError.TimedOut
{
Debug.Print("Nothing more to receive, mem:" + Debug.GC(true));
}
else
{
// reboot
PowerState.RebootDevice(false);
}
}
}
_threadDead = true;
}
/// <summary>
/// Waiting for client to connect.
/// When bytes were read they get wrapped to a "Reqeust"
/// </summary>
private void WaitingForRequest()
{
while (true)
{
try
{
// show ready status
_statusLED.greenLED();
using (Socket clientSocket = listeningSocket.Accept())
{
_statusLED.blueLED();
_lidar_reader.disableInterrupt("server");
//Wait to get the bytes in the sockets "available buffer"
int availableBytes = AwaitAvailableBytes(clientSocket);
if (availableBytes > 0)
{
byte[] buffer = new byte[availableBytes > Settings.MAX_REQUESTSIZE ? Settings.MAX_REQUESTSIZE : availableBytes];
byte[] header = FilterHeader(clientSocket, buffer);
// something wrong with request, ignore it
if (header.Length == 0)
{
continue;
}
//reqeust created, checking the response possibilities
using (Request tempRequest = new Request(Encoding.UTF8.GetChars(header), clientSocket))
{
// add Laser obj to pass it down to response function
tempRequest.setLaser(this._laser);
// add lidar distance object
tempRequest.setLidarDistance(this._distanceValue);
Debug.Print("\n\nClient connected\nURL: " + tempRequest.URL + "\nFinal byte count: " + availableBytes + "\n");
if (tempRequest.Method == "POST")
{
//POST was incoming, it will be saved to SD card at Settings.POST_TEMP_PATH
// This file can later be handled in a normal response method by using PostFileReader
PostToSdWriter post = new PostToSdWriter(tempRequest);
post.ReceiveAndSaveData(buffer, header.Length);
}
//Let's check if we have to take some action or if it is a file-response
SendResponse(tempRequest);
}
try
{
//Close client, otherwise the browser / client won't work properly
clientSocket.Close();
}
catch (Exception ex)
{
Debug.Print(ex.ToString());
}
Debug.Print("Request finished");
Debug.Print("End Request, freemem: " + Debug.GC(true));
_statusLED.greenLED();
_lidar_reader.enableInterrupt("server");
}
}
}
catch (Exception ex)
{
Debug.Print(ex.Message);
}
}
}