public SumoSender(string host, int port)
{
this.Host = host;
this.Port = port;
this.seq_ids = new DefaultDict <int, int>();
SumoRemote = new IPEndPoint(IPAddress.Parse(host), port);
sumoSocket = new UdpClient();
// Initial command (no motion)
this.cmd = SumoCommandsCustom._pack_frame(SumoCommandsCustom.Move_cmd(0, 0));
}
private void SumoSend()
{
try
{
LOGGER.GetInstance.Info("[SumoSender] Thread Started");
while (isConnected)
{
sumoSocket.Send(this.cmd, this.cmd.Length, SumoRemote);
this.cmd = SumoCommandsCustom._pack_frame(SumoCommandsCustom.Move_cmd(0, 0));
Thread.Sleep(40);
}
}
catch (Exception e)
{
LOGGER.GetInstance.Error(e.Message);
}
LOGGER.GetInstance.Info("[SumoSender] Thread Stopped");
}
/// <summary>
/// Apply the given speed and turn to the Jumping Sumo
/// :param speed: [-100, 100]
/// :param turn: [-100, 100]
/// :return:
/// </summary>
/// <param name="speed"></param>
/// <param name="turn"></param>
public void SendMove(sbyte speed, sbyte turn)
{
this.sender.Send(SumoCommandsCustom.Move_cmd(speed, turn));
}