private void MulticastAnnouncerTask()
{
MulticastAnnouncerClient = new UdpClient();
IPEndPoint localEp = ClientJoinMulticast(MulticastAnnouncerClient, MulticastAnnouncerGroupAddress, MulticastAnnouncerPort);
AnnouncerMemoryStream = new MemoryStream();
while (ConnectionStatus == 1)
{
if (MulticastAnnouncerClient.Available > 0)
{
byte[] receivedBytes = MulticastAnnouncerClient.Receive(ref localEp);
AnnouncerMemoryStream.Write(receivedBytes, 0, receivedBytes.Length);
AnnouncerMemoryStream.Position = 0;
lock (AnnouncerLocker) {
AnnouncerData = (TauObjects.AnnouncerDataObj)AnnouncerDataSerializer.JsonSerializer.ReadObject(AnnouncerMemoryStream);
AnnouncerData.HubIP = localEp.Address.ToString();
AnnouncerData.Initialized = true;
}
AnnouncerMemoryStream.SetLength(0);
}
Thread.Sleep(AnnouncerThreadSleep);
}
}
static void Main(string[] args)
{
var tau_multicast = new TauMulticast(logs: true, debug: true); //logs and debug threads should be enabled on initialization if needed
Thread AnnouncerReadingThread, //packet reading threads
DataReadingThread,
MappingReadingThread,
LogsReadingThread,
DebugReadingThread;
bool AnnouncerRead = false, //packet reading bools ('should we read packet' flag for every thread)
DataRead = false,
MappingRead = false,
LogsRead = false,
DebugRead = false;
// this is example of datapacket reading
// usually it's the only packet you're really interested in since it contains all necessary sensor data
// it doesn't have to be a thread, for example you can read packet every frame
DataReadingThread = new Thread(() =>
{
while (true)
{
if (DataRead) //if reading flag is on
{
lock (tau_multicast.DataLocker) {
TauObjects.DataPacket datapacket = tau_multicast.GetDataPacket(); //get packet
if (datapacket != null) //check if it's null before trying to get data from it - this could well be the case if there was connection problems
{
// just print the data for now, refer to the TauObjects.DataPacket class to actually use sensor data
Console.WriteLine(String.Format("= = = = = = = = = =\n{0}", datapacket.ToString()));
}
else
{
Console.WriteLine("= = = [datapacket is null] = = =\n");
}
}
}
// doesn't have to be DataThreadSleep, it's just lowest value that still makes sense.
// no matter how long the sleep between requests, you will get latest packet available
Thread.Sleep(tau_multicast.DataThreadSleep);
}
})
{
IsBackground = true
};
DataReadingThread.Start();
AnnouncerReadingThread = new Thread(() =>
{
while (true)
{
if (AnnouncerRead)
{
lock (tau_multicast.AnnouncerLocker) {
TauObjects.AnnouncerDataObj announcerpacket = tau_multicast.GetAnnouncerPacket();
if (announcerpacket != null)
{
Console.WriteLine(String.Format("= = = = = = = = = =\n{0}", announcerpacket.ToString()));
}
else
{
Console.WriteLine("= = = [announcerpacket is null] = = =\n");
}
}
}
Thread.Sleep(1000);
}
})
{
IsBackground = true
};
AnnouncerReadingThread.Start();
MappingReadingThread = new Thread(() =>
{
while (true)
{
if (MappingRead)
{
lock (tau_multicast.MappingLocker) {
TauObjects.MappingPacket mappingpacket = tau_multicast.GetMappingPacket();
if (mappingpacket != null)
{
Console.WriteLine(String.Format("= = = = = = = = = =\n{0}", mappingpacket.ToString()));
}
else
{
Console.WriteLine("= = = [mappingpacket is null] = = =\n");
}
}
}
Thread.Sleep(tau_multicast.MappingThreadSleep);
}
})
{
IsBackground = true
};
MappingReadingThread.Start();
LogsReadingThread = new Thread(() =>
{
while (true)
{
if (LogsRead)
{
List <string> logs = tau_multicast.GetLogs();
if (logs.Count > 0)
{
foreach (var logstr in logs)
{
Console.WriteLine(logstr);
}
}
}
Thread.Sleep(tau_multicast.LogsThreadSleep);
}
})
{
IsBackground = true
};
LogsReadingThread.Start();
DebugReadingThread = new Thread(() =>
{
while (true)
{
if (DebugRead)
{
lock (tau_multicast.DebugLocker) {
TauObjects.DebugPacket debugpacket = tau_multicast.GetDebugPacket();
if (debugpacket != null)
{
Console.WriteLine(String.Format("= = = = = = = = = =\n{0}", debugpacket.ToString()));
}
else
{
Console.WriteLine("= = = [debugpacket is null] = = =\n");
}
}
}
Thread.Sleep(tau_multicast.DebugThreadSleep);
}
})
{
IsBackground = true
};
DebugReadingThread.Start();
string user_input = "";
while (true)
{
user_input = Console.ReadLine();
if (user_input == "q")
{
break;
}
else if (user_input == "c") //connect
{
Console.WriteLine(String.Format("Connect() state: {0}", tau_multicast.Connect())); //normally should return 0
}
else if (user_input == "d") //disconnect
{
Console.WriteLine(String.Format("Disconnect() state: {0}", tau_multicast.Disconnect())); //normally should return 0
}
else if (user_input == "s") //status (connectionstatus)
{
Console.WriteLine(String.Format("ConnectionStatus state: {0}", tau_multicast.ConnectionStatus)); //0 - not connected, 1 - connected, 2 - disconnect pending
}
else if (user_input == "r a") // read announcer packets
{
AnnouncerRead = true;
}
else if (user_input == "r d") // read data packets
{
DataRead = true;
}
else if (user_input == "r m") // read mapping packets
{
MappingRead = true;
}
else if (user_input == "r db") // read debug packets
{
DebugRead = true;
}
else if (user_input == "r l") // read logs
{
LogsRead = true;
}
else if (user_input == "r s") // read stop
{
AnnouncerRead = false;
DataRead = false;
MappingRead = false;
DebugRead = false;
LogsRead = false;
}
else
{
Console.WriteLine("unknown input");
}
}
}