/// <summary>
/// Creates and configures the sockets by setting the ports, address and Event Handlers
/// </summary>
protected void ConfigureSockets()
{
//this.FormClosing += new FormClosingEventHandler(VisionForm_FormClosing);
//PortIn = 2070;
//PortOut = 2300;
if ((tcpServer != null) && (tcpServer.Started))
{
tcpServer.Stop();
}
tcpServer = new SocketTcpServer(portIn);
tcpServer.BufferSize = DEFAULT_BUFFER_SIZE;
tcpServer.DataReceived += new TcpDataReceivedEventHandler(socketTCPIn_DataReceived);
tcpServer.ClientConnected += new TcpClientConnectedEventHandler(socketTCPIn_ClientConnected);
tcpServer.ClientDisconnected += new TcpClientDisconnectedEventHandler(socketTCPIn_ClientDisconnected);
if ((tcpClient != null) && (tcpClient.IsConnected))
{
tcpClient.Disconnect();
}
if (portIn != portOut)
{
tcpClient = new SocketTcpClient(remoteServerAddress, portOut);
tcpClient.BufferSize = DEFAULT_BUFFER_SIZE;
tcpClient.Connected += new TcpClientConnectedEventHandler(socketTCPOut_Connected);
tcpClient.DataReceived += new TcpDataReceivedEventHandler(socketTCPOut_DataReceived);
tcpClient.Disconnected += new TcpClientDisconnectedEventHandler(socketTCPOut_Disconnected);
}
//mainThread.Start();
}
/// <summary>
/// Performs Restart Tasks
/// </summary>
private void DoRestartModule()
{
Busy = true;
Unlock();
dataReceived.Clear();
if ((server != null) && server.Started)
{
try { server.Stop(); }
catch { }
}
ExecuteRestartActions();
Busy = false;
}
public void Run()
{
/*
* Se inicia el SocketTcpServer.
*/
server.Start();
// Espero a que conecte
while (server.ClientsConnected == 0)
{
Thread.Sleep(10);
}
//Inicia timer
sw.Start();
/*
* Se crea la variable mediante
* create_var "variable|0"
*/
server.SendToAll("create_var \"odometryPos|0\"");
/*
* Realizo la suscripcion. Para el ejemplo no me interesa verificar lo
* que responde el Blackboard, pero todo llega a
* server_DataReceived(...)
* incluso la basura, y se imprime en pantalla.
*
* Nota que hay un error y dice "suscribe" en lugar de "subscribe".
* Esto cambiara en la siguiente version, por lo que puedes programar
* con "subscribe".
*/
server.SendToAll("suscribe_var \"localizerPos suscribe=writeany report=content\"");
/*
* La suscripcion es para la variable 'variable'
* reportando cuando cualquier modulo escriba y reportando todo
* el contenido de la variable.
*
* Ahora realizo 100 escrituras a intervalo de 100ms aprox.
* Se reporta el tiempo de demora.
*/
for (int i = 0; i < 100000; ++i)
{
// Se obtiene el valor a escribir en la variable en hex string
byte[] iData = BitConverter.GetBytes(i);
string sData = String.Empty;
for (int j = 0; j < iData.Length; ++j)
{
sData += iData[j].ToString("X2");
}
server.SendToAll("write_var \"odometryPos|0x" + sData + "\"");
Thread.Sleep(100);
}
server.Stop();
sw.Stop();
}
private void btnServerStart_Click(object sender, EventArgs e)
{
if (!server.Started)
{
try
{
int port;
if (!Int32.TryParse(txtServerPort.Text, out port))
{
MessageBox.Show("Invalid port", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
server.Port = port;
server.Start();
}
catch
{
return;
}
txtServerPort.AutoCompleteCustomSource.Add(txtServerPort.Text);
btnServerStart.Text = "Stop";
txtServerPort.Enabled = false;
txtServerInput.Enabled = true;
txtServerConsole.Enabled = true;
btnServerSend.Enabled = true;
}
else
{
try
{
server.Stop();
}
catch
{
return;
}
btnServerStart.Text = "Start";
txtServerPort.Enabled = true;
txtServerInput.Enabled = false;
txtServerConsole.Enabled = false;
btnServerSend.Enabled = false;
}
}
