private static void Init()
{
// WiFi //
WiFi = new WiFiClient(Defines.HOST_IP, Defines.HOST_PORT);
WiFiThread = new Thread(WiFi.Run);
WiFiThread.Start();
// Roomba //
roomba = new RoombaSerial(SerialPorts.COM1, Pins.GPIO_PIN_D4);
// SDCard //
SDCard = new Logger(Defines.LOG_FILENAME);
// Session ID //
int sid = GetRandomNumber();
string SessionID = sid.ToString("X4");
string new_session = "--- NEW SESSION {" + SessionID + "} VERSION {" + VERSION + "}---";
FifoBuffer.Push(new_session);
SDCard.Log(new_session);
// Pushbutton //
PushButton = new InterruptPort(Pins.ONBOARD_BTN, true, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeLow);
PushButton.OnInterrupt += new NativeEventHandler(OnPushButton);
}
private void SendData()
{
if (FifoBuffer.Count() == 0)
{
TRACE("SendData", "Buffer empty, skipping update.");
return;
}
TRACE("SendData", "Attempting connection... {" + HostAddress.ToString() + "}");
Led.Write(true);
try
{
Socket sender = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
sender.Connect(HostAddress);
TRACE("SendData", "Connected.");
while (FifoBuffer.Count() > 0)
{
byte[] outgoing_msg = Encoding.UTF8.GetBytes(FifoBuffer.Pop());
byte[] incoming_msg = new byte[RX_BUFFER_LENGTH];
int txbytes = sender.Send(outgoing_msg);
int rxbytes = sender.Receive(incoming_msg);
// ADD: OK/ERROR HANDLING IF NEEDED...
TRACE("SendData", "Received: {" + new string(Encoding.UTF8.GetChars(incoming_msg)) + "}");
//TRACE("SendData", "Bytes sent: {" + txbytes.ToString() + "}. Bytes received: {" + rxbytes.ToString() + "}.");
}
sender.Close();
TRACE("SendData", "Connection terminated.");
}
catch (SocketException s)
{
TRACE("SendData", "SocketException: could not connect to server {" + s.ToString() + "}.");
}
catch (Exception e)
{
TRACE("SendData", "Exception: " + e.ToString());
}
Led.Write(false);
}
public static void Main()
{
Thread.Sleep(STARTUP_DELAY);
TRACE("Main", "-- RoombaMapper v" + VERSION + "--");
string sensors;
Init();
while (true)
{
Thread.Sleep(POLLING_PERIOD_MS);
if (ProgramHalted)
{
continue;
}
if (DriveAround)
{
DriveAround = false;
roomba.DriveAround();
}
sensors = roomba.ReadSensors(RoombaSerial.SensorData.All);
if (null == sensors)
{
continue;
}
if (!FifoBuffer.Push(sensors)) // Log to Server
{
TRACE("FifoBuffer.Push", "Buffer is Full");
}
if (!SDCard.Log(sensors, true)) // Log to Storage
{
TRACE("Main", "Logging to SD card failed.");
}
}
}