static void Main()
{
NamedPipeServerStream pipe_server = new NamedPipeServerStream("AC_pipe");
pipe_server.WaitForConnection();
byte[] command = new byte[16];
while (true)
{
pipe_server.Read(command, 0, command.Length);
//server do some work according to command received
//here simply echo command
reply reply = util.convert_to_reply(command);
byte[] echo_msg = util.form_byte_array(reply.order_type,
reply.is_completed, reply.yaw_degree, reply.pitch_degree);
if (pipe_server.IsConnected)
{
pipe_server.Write(echo_msg, 0, echo_msg.Length);
}
else
{
break;
}
}
}
public static reply convert_to_reply(byte[] arr)
{
byte[] op = new byte[4];
byte[] is_sc = new byte[4];
byte[] yaw = new byte[4];
byte[] pitch = new byte[4];
op = sub_array(arr, 0, 4);
is_sc = sub_array(arr, 4, 4);
yaw = sub_array(arr, 8, 4);
pitch = sub_array(arr, 12, 4);
reply pack = new reply();
Int32 op_int = BitConverter.ToInt32(op, 0);
Int32 is_sc_int = BitConverter.ToInt32(is_sc, 0);
float yaw_float = BitConverter.ToSingle(yaw, 0);
float pitch_float = BitConverter.ToSingle(pitch, 0);
switch (op_int)
{
case 0:
pack.order_type = order_type.Pose;
break;
case 10:
pack.order_type = order_type.Reset;
break;
case 20:
pack.order_type = order_type.Yaw;
break;
case 30:
pack.order_type = order_type.Pitch;
break;
case 40:
pack.order_type = order_type.Rotation;
break;
case 50:
pack.order_type = order_type.Spin;
break;
default:
break;
}
if (is_sc_int == 1)
{
pack.is_completed = true;
}
else
{
pack.is_completed = false;
}
pack.yaw_degree = yaw_float;
pack.pitch_degree = pitch_float;
return(pack);
}
static void Main(string[] args)
{
foreach (var process in Process.GetProcessesByName("named_pipe_server"))
{
process.Kill();
}
//run named pipe server
ProcessStartInfo start_info = new ProcessStartInfo();
start_info.CreateNoWindow = true;
start_info.UseShellExecute = true;
start_info.FileName = "..\\..\\..\\named_pipe_server\\bin\\Debug\\named_pipe_server.exe";
Process ac_process = Process.Start(start_info);
//connect to named pipe
NamedPipeClientStream pipe_client = new NamedPipeClientStream("AC_pipe");
pipe_client.Connect();
float yaw_degree = 0.0f;
float pitch_degree = 0.0f;
Random i = new Random();
Random j = new Random();
yaw_degree = (float)i.Next() + (float)j.Next() / 10.0f;
pitch_degree = (float)j.Next() + (float)i.Next() / 10.0f;
byte[] command = util.form_byte_array(order_type.Pose, false, yaw_degree, pitch_degree);
Console.WriteLine("send: "
+ order_type.Reset.ToString()
+ ", "
+ true.ToString()
+ ", "
+ yaw_degree.ToString()
+ ", "
+ pitch_degree.ToString());
pipe_client.Write(command, 0, 16);
//read reply form server
byte[] reply = new byte[16];
pipe_client.Read(reply, 0, 16);
reply pack = util.convert_to_reply(reply);
Console.WriteLine("received: "
+ pack.order_type.ToString()
+ ", "
+ pack.is_completed.ToString()
+ ", "
+ pack.yaw_degree.ToString()
+ ", "
+ pack.pitch_degree.ToString());
Console.ReadKey();
}
