public override void Disconnect()
{
if (!_connected)
{
return;
}
_connected = false;
_SendUpdate();
_dataChannel.Close();
_dataChannel = null;
}
public override bool Connect(RobotInfo _ifo)
{
if (_connected)
{
Disconnect();
}
_dataChannel = new RTPDataChannelSender();
if (_dataChannel.Open(_ifo))
{
_connected = true;
}
else
{
_connected = false;
}
return(_connected);
}
public override void BroadcastMessage(int port)
{
string d;
lock (_serializer)
{
_UpdateData(false);
d = _outputValues;
ClearData(false);
}
if (d.Length == 0)
{
return;
}
bool removeClient = false;
bool removeChannel = false;
if (_dataChannel == null)
{
removeChannel = true;
_dataChannel = new RTPDataChannelSender();
}
if (!_dataChannel.IsOpen())
{
removeClient = true;
RobotInfo ifo = new RobotInfo();
ifo.communicationPort = port;
ifo.IP = IPAddress.Broadcast.ToString();
_dataChannel.Open(ifo);
}
_dataChannel.Broadcast(d);
if (removeClient)
{
_dataChannel.Close();
}
if (removeChannel)
{
_dataChannel.Close();
_dataChannel = null;
}
}
