static void UpdateAllStatus(TcpClient client, NetworkStream stream, bool showVerboseMessage)
{
TCPDigitalIOTranslator translator = new TCPDigitalIOTranslator(showVerboseMessage);
StaticDIO staticDIO = new StaticDIO(showVerboseMessage);
int command = 0;
Console.WriteLine("*** Update All Status ***");
staticDIO.UpdateStaticDI();
command = translator.getTCPCommand(staticDIO.ProjectNum, staticDIO.RobotNum, (byte)TCPDigitalIOTranslator.DIOCommand.Project_GetStatus);
Console.WriteLine("*** command: {0}", command);
SendTCPAndUpdateDO(client, stream, command, showVerboseMessage);
command = translator.getTCPCommand(staticDIO.ProjectNum, (byte)TCPDigitalIOTranslator.RobotNum.R1, (byte)TCPDigitalIOTranslator.DIOCommand.Robot_GetStatus);
Console.WriteLine("*** command: {0}", command);
SendTCPAndUpdateDO(client, stream, command, showVerboseMessage);
command = translator.getTCPCommand(staticDIO.ProjectNum, (byte)TCPDigitalIOTranslator.RobotNum.R2, (byte)TCPDigitalIOTranslator.DIOCommand.Robot_GetStatus);
Console.WriteLine("*** command: {0}", command);
SendTCPAndUpdateDO(client, stream, command, showVerboseMessage);
command = translator.getTCPCommand(staticDIO.ProjectNum, (byte)TCPDigitalIOTranslator.RobotNum.R3, (byte)TCPDigitalIOTranslator.DIOCommand.Robot_GetStatus);
Console.WriteLine("*** command: {0}", command);
SendTCPAndUpdateDO(client, stream, command, showVerboseMessage);
command = translator.getTCPCommand(staticDIO.ProjectNum, (byte)TCPDigitalIOTranslator.RobotNum.R4, (byte)TCPDigitalIOTranslator.DIOCommand.Robot_GetStatus);
Console.WriteLine("*** command: {0}", command);
SendTCPAndUpdateDO(client, stream, command, showVerboseMessage);
}
static void SendTCPAndUpdateDO(TcpClient client, NetworkStream stream, int message_int, bool showVerboseMessage)
{
TCPDigitalIOTranslator translator = new TCPDigitalIOTranslator(showVerboseMessage);
//StaticDIO staticDIO = new StaticDIO(showVerboseMessage);
byte[] responsebyte = { 0, 0, 0, 0 };
responsebyte = ConnectAndSend(client, stream, message_int);
Console.WriteLine("TCP Response: {0:X}.", translator.getDOfromTCPResponse(responsebyte));
Console.WriteLine("TCP Response: {0}.", translator.getStatusStringfromTCPResponse(responsebyte));
//staticDIO.UpdateStaticDO(translator.getDOfromTCPResponse(responsebyte));
}
static void Main(string[] args)
{
String IP = "127.0.0.1";
Int32 port = 1700;
TcpClient client = new TcpClient(IP, port);
NetworkStream stream = client.GetStream();
stream.ReadTimeout = 2000;
stream.WriteTimeout = 2000;
int message_int = 0;
bool manualInput = true;
bool showVerboseMessage = false;
TCPDigitalIOTranslator translator = new TCPDigitalIOTranslator(showVerboseMessage);
StaticDIO staticDIO = new StaticDIO(showVerboseMessage);
//byte[] message_test = {}
byte projectNum = 2;
byte robotNum = 0;
byte command = 1;
Console.WriteLine("{0}", translator.getTCPCommand(projectNum, robotNum, command));
byte[] response_test = { 0, 202, 0, 6 };
string yourByteString = Convert.ToString(translator.getDOfromTCPResponse(response_test), 2).PadLeft(16, '0');
Console.WriteLine("{0:X}", translator.getDOfromTCPResponse(response_test));
Console.WriteLine(yourByteString);
//Thread.Sleep(2000000);
while (true)
{
if (manualInput)
{
Console.WriteLine("");
Console.Write("Value to send: ");
message_int = Convert.ToInt32(Console.ReadLine());
}
else
{
staticDIO.UpdateStaticDI();
Console.WriteLine("TCP command: {0}. ProjectNum: {1}. RobotNum: {2}. Command: {3}", translator.getTCPCommand(staticDIO.ProjectNum, staticDIO.RobotNum, staticDIO.Command), staticDIO.ProjectNum, staticDIO.RobotNum, staticDIO.Command);
message_int = translator.getTCPCommand(staticDIO.ProjectNum, staticDIO.RobotNum, staticDIO.Command);
}
if (CheckMessageValidity(message_int))
{
Console.WriteLine("Message is valid.");
if (staticDIO.Execute == 1 || manualInput)
{
SendTCPAndUpdateDO(client, stream, message_int, showVerboseMessage);
}
}
else
{
Console.WriteLine("Message is invalid.");
}
//UpdateAllStatus(client, showVerboseMessage);
Thread.Sleep(200);
Console.WriteLine("");
}
}