public MulticastBytePacketClient(NetworkAddress address)
{
this.ip = address.Address;
this.port = (UInt16)address.Port;
this.name = address.Name;
if (address.Protocol != NetworkAddressProtocol.UDP_MULTI && address.Protocol != NetworkAddressProtocol.ANY)
Console.WriteLine("Warning: Using non UDP comaptible network address in Multicast Client (" + address.Name + ")");
}
public Pioneer3(NetworkAddress feedback, NetworkAddress control, bool isBackwards, int id)
{
this.isBackwards = isBackwards;
this.ipMulticast = feedback.Address;
this.port = feedback.Port;
this.ipUnicast = control.Address;
this.controlPort = control.Port;
status = new SegwayStatus();
udpClient = new UdpClient();
simMode = false;
robotID = id;
}
public Pioneer3(NetworkAddress feedback, NetworkAddress control, bool simmode, bool isBackwards, int id)
: this(feedback, control, isBackwards, id)
{
if (simmode)
{
INetworkAddressProvider addrProvider = new HardcodedAddressProvider();
simRobotCommandServer = new GenericMulticastServer<SimMessage<RobotTwoWheelCommand>>(addrProvider.GetAddressByName("RobotSimCommands"), new CSharpMulticastSerializer<SimMessage<RobotTwoWheelCommand>>(true));
simRobotCommandServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired));
//Fake Segway feedback (for Odom)
simSegwayFeedback = new GenericMulticastClient<SimMessage<IRobotTwoWheelStatus>>(addrProvider.GetAddressByName("SimSegwayFeedback"), new CSharpMulticastSerializer<SimMessage<IRobotTwoWheelStatus>>(true));
simSegwayFeedback.MsgReceived += new EventHandler<MsgReceivedEventArgs<SimMessage<IRobotTwoWheelStatus>>>(simSegwayFeedback_MsgReceived);
simSegwayFeedback.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired));
}
this.simMode = simmode;
}
public ViconTarsus(NetworkAddress na)
{
this.ip = na.Address;
this.port = na.Port;
}
public TSIPGPS(NetworkAddress na, SensorPose toBodyTransform)
{
this.ip = na.Address; this.port = na.Port;
this.toBodyTransform = toBodyTransform;
}
public SimIMU(NetworkAddress na, SensorPose sp)
{
simIMUClient = new GenericMulticastClient<SimMessage<IMUData>>(na, new CSharpMulticastSerializer<SimMessage<IMUData>>(false));
simIMUClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<SimMessage<IMUData>>>(simIMUClient_MsgReceived);
toBodyTransform = sp;
}
public UDPCamera(NetworkAddress address)
{
this.ip = address.Address; this.port = address.Port;
}
public SickLMS(NetworkAddress na, SensorPose toBodyTransform, bool upsideDown)
{
this.ip = na.Address; this.port = na.Port; this.upsideDown = upsideDown;
this.toBodyTransform = toBodyTransform;
}
public SeptentrioUDP(NetworkAddress na, SensorPose toBodyTransform, int id)
{
this.ip = na.Address; this.port = na.Port;
this.toBodyTransform = toBodyTransform;
this.ID = id;
}
public LittleLaser(NetworkAddress na)
{
ip = na.Address;
port = na.Port;
udp = new UdpClient();
}
