private void clientSoc_DataReceived(object sender, SocketPack socPak)
{
try
{
szData = clientSoc.DecodeBytesToString(socPak.dataBuffer);
this.consoleTextBox.Text += szData + "\r\n";
ExecList cmdRequest = ParseData(szData);
if (!executing)
{
executing = true;
mainCmdRequest = cmdRequest;
Thread actionThread = new Thread(new System.Threading.ThreadStart(Execute));
actionThread.Start();
}
clientSoc.WaitForData();
}
catch (System.NullReferenceException sne)
{
consoleTextBox.Text += "Error @ OnDataReceived NULL ref";
}
catch (System.Net.Sockets.SocketException)
{
consoleTextBox.Text = "Disconnected";
clientSoc.Close();
}
catch (Exception ex)
{
consoleTextBox.Text += "Error @ OnDataReceived" + ex.ToString();
}
}
public Form1()
{
//
// Required for Windows Form Designer support
//
InitializeComponent();
this.mrRoboto = new ZalRobot();
this.clientSoc = new UDPClientASocket(System.Text.Encoding.ASCII);
InitIPPortGUI();
this.clientSoc.DataReceived += new ZalSystem.UDPClientASocket.DataReceivedEventHandler(clientSoc_DataReceived);
this.clientSoc.SocketClosed += new ZalSystem.UDPClientASocket.SocketClosedEventHandler(clientSoc_SocketClosed);
this.KeyDown += new KeyEventHandler(Form1_KeyDown);
commandCount = 0;
mainCmdRequest = new ExecList();
executing = false;
}
public ExecList ParseData(string inMessage)
{
ExecList cmdRequest = new ExecList();
if (inMessage == null)
{
return(cmdRequest);
}
//First, we clean the message from those characters that we found useless
inMessage = clientSoc.ReadUntil(inMessage, '\n'.ToString());
inMessage = inMessage.TrimEnd(new char[] { _charSPACE, _charNULL });
//Second, we look for a command ID or the sender's IP
if (inMessage.IndexOf("@") != _intERROR)
{
msgTokens = inMessage.Split('@');
try
{
cmdRequest.cmdID = int.Parse(msgTokens[1]);
inMessage = msgTokens[0];
}
catch (System.FormatException)
{
try
{
if (msgTokens[1].Equals(clientSoc.ip.ToString()))
{
inMessage = msgTokens[0];
}
}
catch (System.FormatException) {
cmdRequest = new ExecList();
return(cmdRequest);
}
}
}
//Clean the command submessage and divide in commandTokens
inMessage = inMessage.ToLower();
string[] commandTokens;
inMessage = inMessage.TrimEnd(_charSPACE);
commandTokens = inMessage.Split(_charSPACE); //Our grammar divides commandTokens with space character
int spaceCont = 0;
for (int tokCont = 0; tokCont < commandTokens.Length; tokCont++)
{
if (commandTokens[tokCont] == "")
{
spaceCont++;
}
}
string[] finalTokens = new string[commandTokens.Length - spaceCont];
int finalCont = 0;
for (int tokCont = 0; tokCont < commandTokens.Length; tokCont++)
{
if (commandTokens[tokCont] != "")
{
finalTokens[finalCont] = commandTokens[tokCont];
finalCont++;
}
}
try
{
switch (finalTokens[0])
{
//To Be Confirmed commands (depends whether they are programmed on robot or not)
#region TBC Commands
// case "hp":
// break;
// case "left":
// mrRoboto.TurnLeft();
// consoleTextBox.Text += "\r\nI'm here";
// break;
// case "right":
// mrRoboto.TurnRight();
// break;
// case "forward":
// mrRoboto.MoveForward();
// break;
// case "backward":
// mrRoboto.MoveBackward();
// break;
// case "stop":
// mrRoboto.Stop();
// break;
// case "raw":
// if(commandTokens.Length > 1)
// {
// mrRoboto.sPort.WriteString(commandTokens[1]);
// lastMessage = commandTokens[1];
// messageSPort = commandTokens[1];
// }
// break;
// case "setid":
// if(commandTokens.Length>1)
// {
// mrRoboto.idNum = Int32.Parse(commandTokens[1]);
// }
// break;
// case "setsp":
// if(commandTokens.Length > 1)
// {
// mrRoboto.SetSpeed(Int32.Parse(commandTokens[1]));
// }
// break;
// case "shid":
// if(clientSoc.clientSocket.Connected)
// {
// clientSoc.SendMsg(mrRoboto.idNum.ToString());
// }
// break;
// case "shs":
// if(commandTokens.Length>1)
// {
// clientSoc.SendMsg(mrRoboto.ReqSensorVal(commandTokens[1], Int32.Parse(commandTokens[2])));
// }
// break;
// case "bye":
// throw new Exception("Call to end program");
#endregion
case "mv":
if (finalTokens.Length > 2)
{
try
{
cmdRequest.mvReq = true;
cmdRequest.mvDist = float.Parse(finalTokens[1], System.Globalization.NumberStyles.Float);
cmdRequest.mvAngle = float.Parse(finalTokens[2], System.Globalization.NumberStyles.Float);
}
catch (System.Exception se)
{
}
}
break;
case "raw": //Sends directly 1st parameter to serial port
if (finalTokens[1].Length == 10)
{
mrRoboto.sPort.WriteString(finalTokens[1]);
}
this.consoleTextBox.Text += finalTokens[1] + "\r\n";
break;
case "shooton":
{
mrRoboto.ShootOn();
}
break;
case "shootoff":
{
mrRoboto.ShootOff();
}
break;
default: break;
}
}
catch (Exception excp)
{
consoleTextBox.Text += _strENTER + "Error while Parsing."
+ _strENTER + excp.ToString();
cmdRequest = new ExecList();
}
return(cmdRequest);
}
