public static MOTOR_DATA_KV_SP ToStruct(byte[] bytes)
{
GCHandle gch = GCHandle.Alloc(bytes, GCHandleType.Pinned);
MOTOR_DATA_KV_SP result = (MOTOR_DATA_KV_SP)Marshal.PtrToStructure(gch.AddrOfPinnedObject(), typeof(MOTOR_DATA_KV_SP));
gch.Free();
return(result);
}
static byte[] ToBytes(MOTOR_DATA_KV_SP obj)
{
int size = Marshal.SizeOf(typeof(MOTOR_DATA_KV_SP));
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(obj, ptr, false);
byte[] bytes = new byte[size];
Marshal.Copy(ptr, bytes, 0, size);
Marshal.FreeHGlobal(ptr);
return(bytes);
}
//
// 別スレッド処理（UDP） //IP 192.168.1.214
//
private void worker_udp_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = (BackgroundWorker)sender;
//バインドするローカルポート番号
int localPort = appSettings.UdpPortRecieve;// mmFsiUdpPortSpCam;// 24410 broadcast
System.Net.Sockets.UdpClient udpc = null;;
try
{
udpc = new System.Net.Sockets.UdpClient(localPort);
}
catch (Exception ex)
{
//匿名デリゲートで表示する
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
}
// ベースブロードバンドポートなら転送
System.Net.Sockets.UdpClient udpc2 = null;;
if (localPort == mmUdpPortBroadCast)
{
int localPortSent = mmUdpPortBroadCastSent;
try
{
udpc2 = new System.Net.Sockets.UdpClient(localPortSent);
}
catch (Exception ex)
{
//匿名デリゲートで表示する
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
}
}
//文字コードを指定する
System.Text.Encoding enc = System.Text.Encoding.UTF8;
string str;
MOTOR_DATA_KV_SP kmd3 = new MOTOR_DATA_KV_SP();
int size = Marshal.SizeOf(kmd3);
KV_DATA kd = new KV_DATA();
int sizekd = Marshal.SizeOf(kd);
//データを受信する
System.Net.IPEndPoint remoteEP = new IPEndPoint(IPAddress.Any, localPort);
while (bw.CancellationPending == false)
{
byte[] rcvBytes = udpc.Receive(ref remoteEP);
if (rcvBytes.Length == sizekd)
{
kd = ToStruct1(rcvBytes);
bw.ReportProgress(0, kd);
// ベースブロードバンドポートなら転送
if (localPort == mmUdpPortBroadCast)
{
//データを送信するリモートホストとポート番号
string remoteHost = "localhost";
//string remoteHost = "192.168.1.204";
int remotePort = 24441; // アプリ1
udpc2.Send(rcvBytes, rcvBytes.Length, remoteHost, remotePort);
remotePort = 24442; // アプリ2
udpc2.Send(rcvBytes, rcvBytes.Length, remoteHost, remotePort);
remotePort = 24443; // アプリ3
udpc2.Send(rcvBytes, rcvBytes.Length, remoteHost, remotePort);
}
}
else if (rcvBytes.Length == size)
{
kmd3 = ToStruct(rcvBytes);
if (kmd3.cmd == 1) //mmMove:1
{
Mode = DETECT;
//this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, RUN });
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveTimeOver, RUN });
//保存処理開始
if (this.States == RUN)
{
ImgSaveFlag = TRUE;
this.States = SAVE;
kalman_init();
pos_mes.init();
}
}
else if (kmd3.cmd == 90) //mmPidTest:90
{
Mode = PID_TEST;
test_start_id = pid_data.id;
//this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, RUN });
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveTimeOver, RUN });
//保存処理開始
if (this.States == RUN)
{
ImgSaveFlag = TRUE;
this.States = SAVE;
}
}
else if (kmd3.cmd == 16) //mmLost:16
{
//Mode = LOST;
//ButtonSaveEnd_Click(sender, e);
//匿名デリゲートで表示する
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, STOP });
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSavePostTime, RUN });
}
else if (kmd3.cmd == 17) // mmMoveEnd 17 // 位置決め完了
{
Mode = DETECT_IN;
}
else if (kmd3.cmd == 18) // mmTruckEnd 18 // 追尾完了
{
//保存処理終了
timerSaveTimeOver.Stop();
Mode = LOST;
ButtonSaveEnd_Click(sender, e);
}
else if (kmd3.cmd == 20) //mmData 20 // send fish pos data
{
//匿名デリゲートで表示する
//this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, STOP });
//this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, RUN }); // main timer 延長
}
str = DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss.fff") + " UDP " + kmd3.cmd.ToString("CMD:00") + " Az:" + kmd3.az + " Alt:" + kmd3.alt + " VAz:" + kmd3.vaz + " VAlt:" + kmd3.valt + "\n";
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
//bw.ReportProgress(0, kmd3);
}
else
{
string rcvMsg = enc.GetString(rcvBytes);
str = DateTime.Now.ToString("yyyyMMdd_HHmmss_fff") + "受信したデータ:[" + rcvMsg + "]\n";
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
}
//str = DateTime.Now.ToString("yyyyMMdd_HHmmss_fff") + "送信元アドレス:{0}/ポート番号:{1}/Size:{2}\n" + remoteEP.Address + "/" + remoteEP.Port + "/" + rcvBytes.Length;
//this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
}
//UDP接続を終了
udpc.Close();
}
