private static void Main(string[] args)
{
Stopwatch watch = new Stopwatch();
LinkUpUdpConnector serverToClient = new LinkUpUdpConnector(IPAddress.Parse("127.0.0.1"), IPAddress.Parse("127.0.0.1"), 1000, 2000);
serverToClient.ReveivedPacket += ServerToClient_ReveivedPacket;
LinkUpNode node = new LinkUpNode();
node.Name = "root";
node.AddSubNode(serverToClient);
while (node.Labels.Count < 1)
{
}
LinkUpPropertyLabel <int> val1 = node.Labels[0] as LinkUpPropertyLabel <int>;
for (int i = 0; i < 100; i++)
{
watch.Restart();
int value = val1.Value;
Console.WriteLine("GET {0}: {1} in {2} µs", val1.Name, value, watch.ElapsedTicks * 1000 * 1000 / Stopwatch.Frequency);
Console.Read();
watch.Restart();
val1.Value = value * i;
Console.WriteLine("SET {0}: {1} in {2} µs", val1.Name, value * i, watch.ElapsedTicks * 1000 * 1000 / Stopwatch.Frequency);
Console.Read();
}
}
public void UpdateLinkUpBindings()
{
if (Node != null)
{
_CameraEventLabel = Node.GetLabelByName <LinkUpEventLabel>("firefly/computer_vision/camera_event");
_ImuEventLabel = Node.GetLabelByName <LinkUpEventLabel>("firefly/computer_vision/imu_event");
_CameraImuEventLabel = Node.GetLabelByName <LinkUpEventLabel>("firefly/computer_vision/camera_imu_event");
_SlamMapEventLabel = Node.GetLabelByName <LinkUpEventLabel>("firefly/computer_vision/slam_map_event");
_ExposureLabel = Node.GetLabelByName <LinkUpPropertyLabel <Int16> >("firefly/computer_vision/camera_exposure");
_ReplayDataSend = Node.GetLabelByName <LinkUpFunctionLabel>("firefly/computer_vision/replay_data");
_GetRemoteChessboardCornerLabel = Node.GetLabelByName <LinkUpFunctionLabel>("firefly/computer_vision/get_chessboard_corner");
_UpdateSettingsLabel = Node.GetLabelByName <LinkUpFunctionLabel>("firefly/computer_vision/update_settings");
_AccelerometerScaleLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/acc_scale");
_GyroscopeScaleLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/gyro_scale");
_TemperatureScaleLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/temp_scale");
_TemperatureOffsetLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/temp_offset");
_RecordRemoteLabel = Node.GetLabelByName <LinkUpPropertyLabel <Boolean> >("firefly/computer_vision/record_remote");
_ImuFilterALabel = Node.GetLabelByName <LinkUpPropertyLabel_Binary>("firefly/computer_vision/imu_filter_a");
_ImuFilterBLabel = Node.GetLabelByName <LinkUpPropertyLabel_Binary>("firefly/computer_vision/imu_filter_b");
_ImuDerivedEventLabel = Node.GetLabelByName <LinkUpEventLabel>("firefly/computer_vision/imu_derived_event");
_SlamStatusEventLabel = Node.GetLabelByName <LinkUpEventLabel>("firefly/computer_vision/slam_status_event");
_SlamChangeStatusLabel = Node.GetLabelByName <LinkUpFunctionLabel>("firefly/computer_vision/slam_change_status");
_SlamReproducibleExecutionLabel = Node.GetLabelByName <LinkUpPropertyLabel <Boolean> >("firefly/computer_vision/slam_reproducible_execution");
_TCamImuLabel = Node.GetLabelByName <LinkUpPropertyLabel_Binary>("firefly/computer_vision/calibration_T_cam_imu");
_RAccGyroLabel = Node.GetLabelByName <LinkUpPropertyLabel_Binary>("firefly/computer_vision/calibration_R_acc_gyro");
_MInvGyroLabel = Node.GetLabelByName <LinkUpPropertyLabel_Binary>("firefly/computer_vision/calibration_M_inv_gyro");
_MInvAccLabel = Node.GetLabelByName <LinkUpPropertyLabel_Binary>("firefly/computer_vision/calibration_M_inv_acc");
_GyroscopeNoiseLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/calibration_gyro_noise");
_GyroscopeWalkLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/calibration_gyro_walk");
_AccelerometerNoiseLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/calibration_acc_noise");
_AccelerometerWalkLabel = Node.GetLabelByName <LinkUpPropertyLabel <Double> >("firefly/computer_vision/calibration_acc_walk");
_EnableVisualInertialLabel = Node.GetLabelByName <LinkUpPropertyLabel <Boolean> >("firefly/computer_vision/slam_enable_visual_inertial");
_ImuDerivedEventLabel.Fired += _ImuFilterEvent_Fired;
_SlamStatusEventLabel.Fired += _SlamStatusEventLabel_Fired;
_CameraEventLabel.Fired += _CameraEventLabel_Fired;
_ImuEventLabel.Fired += _CameraEventLabel_Fired;
_CameraImuEventLabel.Fired += _CameraEventLabel_Fired;
_SlamMapEventLabel.Fired += _SlamMapEventLabel_Fired;
Update();
}
}
private static void Main(string[] args)
{
LinkUpUdpConnector clientToServer = new LinkUpUdpConnector(IPAddress.Parse("127.0.0.1"), IPAddress.Parse("127.0.0.1"), 2000, 1000);
clientToServer.ReveivedPacket += ClientToServer_ReveivedPacket;
LinkUpNode node = new LinkUpNode();
node.Name = "leaf";
node.MasterConnector = clientToServer;
LinkUpPropertyLabel <int> val1 = node.AddLabel <LinkUpPropertyLabel <int> >("val1");
val1.Value = 1213;
Console.Read();
}
private static void StaticTest2()
{
BlockingCollection <byte[]> col1 = new BlockingCollection <byte[]>();
BlockingCollection <byte[]> col2 = new BlockingCollection <byte[]>();
BlockingCollection <byte[]> col3 = new BlockingCollection <byte[]>();
BlockingCollection <byte[]> col4 = new BlockingCollection <byte[]>();
LinkUpMemoryConnector masterToSlave = new LinkUpMemoryConnector(col1, col2);
LinkUpMemoryConnector slaveToMaster = new LinkUpMemoryConnector(col2, col1);
LinkUpMemoryConnector masterToSuper = new LinkUpMemoryConnector(col3, col4);
LinkUpMemoryConnector superToMaster = new LinkUpMemoryConnector(col4, col3);
masterToSlave.ReveivedPacket += MasterToSlave_ReveivedPacket;
slaveToMaster.ReveivedPacket += SlaveToMaster_ReveivedPacket;
masterToSuper.ReveivedPacket += MasterToSuper_ReveivedPacket;
superToMaster.ReveivedPacket += SuperToMaster_ReveivedPacket;
LinkUpNode super = new LinkUpNode();
super.AddSubNode(superToMaster);
super.Name = "super";
LinkUpNode master = new LinkUpNode();
master.AddSubNode(masterToSlave);
master.MasterConnector = masterToSuper;
master.Name = "master";
LinkUpNode slave = new LinkUpNode();
slave.MasterConnector = slaveToMaster;
slave.Name = "slave";
LinkUpPropertyLabel <int> value2 = master.AddLabel <LinkUpPropertyLabel <int> >("value2");
LinkUpPropertyLabel <int> value1 = slave.AddLabel <LinkUpPropertyLabel <int> >("value1");
value1.Value = 10;
value2.Value = 1011;
Console.WriteLine("Continue after init!");
Console.ReadLine();
LinkUpPropertyLabel <int> value1Ref = (LinkUpPropertyLabel <int>)master.Labels.FirstOrDefault(c => c.Name == "master/slave/value1");
Console.WriteLine("value1Ref: " + value1Ref.Value);
value1Ref.Value = 123;
Console.WriteLine("value1: " + value1.Value);
value1Ref.Value = 10;
Console.WriteLine("value1: " + value1.Value);
LinkUpPropertyLabel <int> value1RefSuper = (LinkUpPropertyLabel <int>)super.Labels.FirstOrDefault(c => c.Name == "super/master/slave/value1");
Console.WriteLine("value1RefSuper: " + value1RefSuper.Value);
value1RefSuper.Value = 123;
Console.WriteLine("value1: " + value1.Value);
value1RefSuper.Value = 10;
Console.WriteLine("value1: " + value1.Value);
LinkUpPropertyLabel <int> value2RefSuper = (LinkUpPropertyLabel <int>)super.Labels.FirstOrDefault(c => c.Name == "super/master/value2");
Console.WriteLine("value2RefSuper: " + value2RefSuper.Value);
value2RefSuper.Value = 1245;
Console.WriteLine("value2: " + value2.Value);
value2RefSuper.Value = 1152;
Console.WriteLine("value2: " + value2.Value);
Console.WriteLine("done");
Console.ReadLine();
}
