public static MOTOR_DATA_KV_SP ToStruct(byte[] bytes)
{
GCHandle gch = GCHandle.Alloc(bytes, GCHandleType.Pinned);
MOTOR_DATA_KV_SP result = (MOTOR_DATA_KV_SP)Marshal.PtrToStructure(gch.AddrOfPinnedObject(), typeof(MOTOR_DATA_KV_SP));
gch.Free();
return(result);
}
//メインスレッドでの処理
private void worker_udp_ProgressChanged(object sender, ProgressChangedEventArgs e)
{
// 画面表示
if ((id % 1) == 0)
{
MOTOR_DATA_KV_SP kmd3 = (MOTOR_DATA_KV_SP)e.UserState;
string s = string.Format("worker_udp_ProgressChanged:[{0} {1} az:{2} alt:{3}]\n", kmd3.cmd, kmd3.t, kmd3.az, kmd3.alt);
textBox1.AppendText(s);
}
}
static byte[] ToBytes(MOTOR_DATA_KV_SP obj)
{
int size = Marshal.SizeOf(typeof(MOTOR_DATA_KV_SP));
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(obj, ptr, false);
byte[] bytes = new byte[size];
Marshal.Copy(ptr, bytes, 0, size);
Marshal.FreeHGlobal(ptr);
return(bytes);
}
// 別スレッド処理（UDP）
private void worker_udp_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = (BackgroundWorker)sender;
//バインドするローカルポート番号
int localPort = 24404;
System.Net.Sockets.UdpClient udpc = null;;
try
{
udpc = new System.Net.Sockets.UdpClient(localPort);
}
catch (Exception ex)
{
//匿名デリゲートで表示する
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
}
//文字コードを指定する
System.Text.Encoding enc = System.Text.Encoding.UTF8;
//データを送信するリモートホストとポート番号
//string remoteHost = "localhost";
// string remoteHost = "192.168.1.204";
// int remotePort = 24404;
//送信するデータを読み込む
string sendMsg = "test送信するデータ";
byte[] sendBytes = enc.GetBytes(sendMsg);
//リモートホストを指定してデータを送信する
// udpc.Send(sendBytes, sendBytes.Length, remoteHost, remotePort);
string str;
MOTOR_DATA_KV_SP kmd3 = new MOTOR_DATA_KV_SP();
int size = Marshal.SizeOf(kmd3);
//データを受信する
System.Net.IPEndPoint remoteEP = new IPEndPoint(IPAddress.Any, localPort);
while (bw.CancellationPending == false)
{
byte[] rcvBytes = udpc.Receive(ref remoteEP);
if (rcvBytes.Length == size)
{
kmd3 = ToStruct(rcvBytes);
if (kmd3.cmd == 1) //mmMove:1
{
FishMode = FISH_DETECT;
MT3Status = SAVE;
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, START });
//timerSaveMainTime.Start();
buttonSave_Click(sender, e);
}
else
if (kmd3.cmd == 16) //mmLost:16
{
FishMode = LOST;
//ButtonSaveEnd_Click(sender, e);
//匿名デリゲートで表示する
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSaveMainTime, STOP });
this.Invoke(new dlgSetColor(SetTimer), new object[] { timerSavePostTime, START });
//timerSavePostTime.Start();
}
else
if (kmd3.cmd == 17) //mmMoveEnd:17
{
MT3Status = STOP;
}
str = "受信したデータ(kmd3):" + kmd3.cmd + ":" + kmd3.t + ":" + kmd3.az + "\n";
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
bw.ReportProgress(0, kmd3);
}
else
{
string rcvMsg = enc.GetString(rcvBytes);
str = "受信したデータ:[" + rcvMsg + "]\n";
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
}
str = "送信元アドレス:{0}/ポート番号:{1}/Size:{2}\n" + remoteEP.Address + "/" + remoteEP.Port + "/" + rcvBytes.Length;
this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, str });
}
//UDP接続を終了
udpc.Close();
}