private void button4_Click(object sender, EventArgs e)
{
var mod = ((MODELO_TYPE)comboBox2.SelectedItem);
if (dm.isStarted())
{
dm.stopModel();
}
switch (mod)
{
case MODELO_TYPE.OMNIDIRECCIONAL:
dm = new OmniModel();
break;
case MODELO_TYPE.DIFERENCIAL:
dm = new DifferModel();
break;
case MODELO_TYPE.ACKERMKAN:
dm = new AckerModel();
break;
default:
break;
}
dm.setDeviceIndex(devIndeex);
dm.startModel();
button1.Text = "Desconectar";
}
void bw_DoWork(object sender, DoWorkEventArgs e)
{
clientSock = sock.Accept();
//leer del cliente
try
{
while (clientSock.Connected)
{
byte[] cmd = new byte[1];
clientSock.Receive(cmd);
byte[] data;
MineroEventArgs mEA;
MemoryStream ms = new MemoryStream();
switch (((CMD_MINERO)cmd[0]))
{
case CMD_MINERO.CMD_MODE:
data = new byte[1];
clientSock.Receive(data);
mod = (MODELO_TYPE)data[0];
if (modeloRobot.isStarted())
{
modeloRobot.stopModel();
}
switch (mod)
{
case MODELO_TYPE.OMNIDIRECCIONAL:
modeloRobot = new OmniModel();
modeloRobot.setModoOperacion(this._modoOperacion);
break;
case MODELO_TYPE.DIFERENCIAL:
modeloRobot = new DifferModel();
modeloRobot.setModoOperacion(this._modoOperacion);
break;
case MODELO_TYPE.ACKERMKAN:
modeloRobot = new AckerModel();
modeloRobot.setModoOperacion(this._modoOperacion);
break;
default:
break;
}
if (_modoOperacion == GLOBAL_MODE.MINI_MINERO)
modeloRobot.setDeviceIndex(3);
else
modeloRobot.setDeviceIndex(4);
modeloRobot.startModel();
mEA = new MineroEventArgs(CMD_MINERO.CMD_MODE, data, 1);
break;
case CMD_MINERO.CMD_FOTO:
data = new byte[1];
clientSock.Receive(data);
bmp = (Bitmap)bmp1.Clone();
// Save to memory using the Jpeg format
bmp.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
// read to end
ms.SetLength(921600);
//ms.Position = 0;
byte[] bmpBytes = ms.ToArray();
bmp.Dispose();
ms.Close();
mEA = new MineroEventArgs(CMD_MINERO.CMD_FOTO, bmpBytes, bmpBytes.Length);
break;
default:
mEA = new MineroEventArgs(CMD_MINERO.CMD_DEF, cmd, 1);
break;
}
if (MineroEvent != null)
MineroEvent(this, mEA);
}
}
catch (Exception ex)
{
var mes = ex.Message;
}
}
