//thread to recieve driving commands from webserver
private static void ControlReciever(object obj, object handler)
{
Byte[] bytes = new Byte[256];
DataHandler datahandler = (DataHandler)handler;
TcpClient client = (TcpClient)obj;
NetworkStream stream = client.GetStream();
while (true)
{
try
{
while ((stream.Read(bytes, 0, bytes.Length)) != 0)
{
string data = System.Text.Encoding.UTF8.GetString(bytes); //convert the bytes in the tcp stream into a string
RobotData recievedData = JsonConvert.DeserializeObject <RobotData>(data); //deserialize the data from the string
datahandler.Mode = recievedData.Mode;
datahandler.Data = recievedData.DrivingCommand;
}
}
catch (Exception e) //this usually happens when the client disconnects or times out. Will need to make the error handling for other cases instead of handling all exceptions
{
Console.WriteLine("Client Disconnected");
break;
}
}
client.Close();
}
//thread to stream driving commands to the robot (deprecated), might be used in the future to send a sensor config changes if needed
private static void RobotStreamer(object obj, object handler)
{
DataHandler datahandler = (DataHandler)handler;
TcpClient client = (TcpClient)obj;
NetworkStream stream = client.GetStream();
while (true)
{
try
{
RobotData data = new RobotData();
data.DrivingCommand = datahandler.Data;
data.Mode = datahandler.Mode;
string json = JsonConvert.SerializeObject(data); //serialize the object into a json string
byte[] msg = System.Text.Encoding.UTF8.GetBytes(json); //convert the string into bytes to be sent over the TCP stream
stream.Write(msg, 0, msg.Length); //send the string to the robot or sensor
Thread.Sleep(100);
}
catch (Exception e) //this usually happens when the client disconnects or times out. Will need to make the error handling for other cases instead of handling all exceptions
{
Console.WriteLine("Client Disconnected");
break;
}
}
client.Close();
}
//thread to stream sensor data to webserver/mapgen
private static void SensorStreamer(object obj, object handler)
{
DataHandler datahandler = (DataHandler)handler; //the datahandler passed to the thread
TcpClient client = (TcpClient)obj; //the tcp stream passed to the thread
NetworkStream stream = client.GetStream();
while (true)
{
try
{
RobotData data = new RobotData(); //this was originally used to stream the robot's sensors to the server, but it serves the same purpose for a stationary sensor
data.BatteryPercentage = datahandler.BatteryPercentage;
data.DistanceSensorFront = datahandler.DistanceSensorFront;
data.DistanceSensorLeft = datahandler.DistanceSensorLeft;
data.DistanceSensorRight = datahandler.DistanceSensorRight;
data.TemperatureReading = datahandler.TemperatureReading;
data.Timestamp = datahandler.Timestamp;
data.HumidityReading = datahandler.HumidityReading;
data.WaterDetected = datahandler.WaterDetected;
data.SmokeDetected = datahandler.SmokeDetected;
data.DrivingCommand = datahandler.Data;
data.Mode = datahandler.Mode;
string json = JsonConvert.SerializeObject(data); //serialize the data into a string of json
byte[] msg = System.Text.Encoding.UTF8.GetBytes(json); //convert the json string into bytes
stream.Write(msg, 0, msg.Length); //send the bytes over the tcp stream
Thread.Sleep(100); //wait .1 seconds
}
catch (Exception e) //this usually happens when the client disconnects or times out. Will need to make the error handling for other cases instead of handling all exceptions
{
Console.WriteLine("Client Disconnected");
break;
}
}
client.Close();
}
//thread to recieve data from robot or sensor
private static void SensorDataReciever(object obj, object handler)
{
Byte[] bytes = new Byte[256];
DataHandler datahandler = (DataHandler)handler; //the datahandler passed to the thread
TcpClient client = (TcpClient)obj; //the tcp stream passed to the thread
NetworkStream stream = client.GetStream();
while (true)
{
try
{
int i;
while ((i = stream.Read(bytes, 0, bytes.Length)) != 0)
{
string data = Encoding.UTF8.GetString(bytes, 0, i); //decode the bytes into a string
RobotData recievedData = JsonConvert.DeserializeObject <RobotData>(data); //deserialize the string into a robotdata object
datahandler.DistanceSensorFront = (recievedData.DistanceSensorFront);
datahandler.DistanceSensorRight = (recievedData.DistanceSensorRight);
datahandler.DistanceSensorLeft = (recievedData.DistanceSensorLeft);
datahandler.BatteryPercentage = (recievedData.BatteryPercentage);
datahandler.Timestamp = recievedData.Timestamp;
datahandler.TemperatureReading = recievedData.TemperatureReading;
datahandler.HumidityReading = recievedData.HumidityReading;
datahandler.MotionDetected = recievedData.MotionDetected;
}
}
catch (Exception e) //this usually happens when the client disconnects or times out. Will need to make the error handling for other cases instead of handling all exceptions
{
Console.WriteLine("Client Disconnected");
break;
}
}
client.Close();
}