Exemplo n.º 1
0
        private static void SendCallBack(IAsyncResult ar)
        {
            Socket handler = (Socket)ar.AsyncState;

            int bytesSent = handler.EndSend(ar);
            Console.WriteLine("Sent {0} bytes to client.", bytesSent);

            handler.Shutdown(SocketShutdown.Both);
            handler.Close();

            StartBoth._TCPlistening = false;
            StartBoth.ListeningMessage();
        }
Exemplo n.º 2
0
        /// <summary>
        /// Goes here after receiving a signal
        /// </summary>
        public static void ReadCallBack(IAsyncResult res)
        {
            UdpClient client = (UdpClient)res.AsyncState;
            IPEndPoint RemoteIPEndPoint = new IPEndPoint(IPAddress.Any, listenPort);
            Console.WriteLine("----------------------");
            Console.WriteLine("UDP Connection made. Receiving data...");

            byte[] received = client.EndReceive(res, ref RemoteIPEndPoint);
            listenPort = ((IPEndPoint)client.Client.LocalEndPoint).Port;
            Console.WriteLine("Data received from: {0} at Port: {1}", RemoteIPEndPoint.Address.ToString(), listenPort.ToString());
            Console.WriteLine("Sending back changed position for debugging/testing purposes...");

            using (MemoryStream ms = new MemoryStream())
            {
                ms.Write(received, 0, received.Length);
                ms.Position = 0;

                if (listenPort == 8888)
                {
                    replyPort = 9999;
                    MessageParser<RobotStructure> parser = new MessageParser<RobotStructure>(() => new RobotStructure());
                    receivedStructure = parser.ParseFrom(ms);
                    receivedStructure.RootJointID = 1;
                    ms.Position = 0;
                    SendBackStructure(receivedStructure);
                }

                else if (listenPort == 7777)
                {
                    replyPort = 6666;
                    MessageParser<PositionList> parser = new MessageParser<PositionList>(() => new PositionList());
                    receivedList = parser.ParseFrom(ms);
                    receivedList.PList[0].Rotation = 30;
                    ms.Position = 0;
                    SendBackPositions(receivedList);
                }

                else if (listenPort == 1234)
                {
                    replyPort = 4321;
                    MessageParser<MeshList> parser = new MessageParser<MeshList>(() => new MeshList());
                    receivedMeshes = parser.ParseFrom(ms);
                    Console.WriteLine("RECEIVED MESHES... LENGTH = {0}", receivedMeshes.Meshes.Count);
                    StartBoth.ListeningMessage();
                    StartBoth._MeshListening = false;
                }

            }
        }
Exemplo n.º 3
0
        public static void SendBackPositions(PositionList received)
        {
            using (MemoryStream ms = new MemoryStream())
            {
                received.WriteTo(ms);
                Socket tempSocket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
                IPEndPoint replyEndPoint = new IPEndPoint(IPAddress.Parse("127.0.0.1"), replyPort);
                ms.Position = 0;
                tempSocket.SendTo(received.ToByteArray(), replyEndPoint);
                tempSocket.Close();
            }

            Console.WriteLine("Data sent!");
            StartBoth.ListeningMessage();
            StartBoth._Positionlistening = false;
        }