public void SampleThreadFunc()
{
if (StateManager.TcpState.IsClientConnected)
{
InterNetwork.GetInstance().AcquirePicture();
}
else
{
WriteToConsole("No client connected !");
}
while (true)
{
if (TcpIpFileManager.GetInstance().IsFileFresh)
{
break;
}
else
{
Thread.Sleep(100);
}
}
//When the file is ready
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>((Bitmap)TcpIpFileManager.GetInstance().NowImage);
WriteToPictureRaw(rawImage);
}
public void Send(string data)
{
if (StateManager.TcpState.IsClientConnected == true)
{
TcpManager tempTcpManager = TcpManager.GetInstance();
tempTcpManager.TcpServerSend(InterNetwork.GetInstance().GetRemoteClient(), data + Environment.NewLine);
}
else
{
FormArduinoControlPanel.GetInstance().WriteToConsole("Error: No Client Connected !");
}
}
public void Send(MotorDirection dirA, int speedA, MotorDirection dirB, int speedB, int time)
{
if (StateManager.TcpState.IsClientConnected == true)
{
string data = "Motor" + Separator + (int)dirA + Separator + speedA + Separator + (int)dirB + Separator + speedB + Separator + time + Separator + Environment.NewLine;
TcpManager tempTcpManager = TcpManager.GetInstance();
tempTcpManager.TcpServerSend(InterNetwork.GetInstance().GetRemoteClient(), data);
StateManager.ArduinoState.IsBusy = true;
}
else
{
FormArduinoControlPanel.GetInstance().WriteToConsole("Error: No Client Connected !");
}
}
private void Receive(object argClient)
{
var client = (TcpManager.TcpClientWithGuid)argClient;
NetworkStream ns = client.TcpStream;
StreamReader sr = new StreamReader(ns);
while (true)
{
string data;
try
{
data = sr.ReadLine();
}
catch (IOException e)
{
client.Stop();
StateManager.TcpState.IsClientConnected = false;
break;
}
if (data == null)
{
client.Stop();
StateManager.TcpState.IsClientConnected = false;
break;
}
string[] items = data.Split(Separators, StringSplitOptions.RemoveEmptyEntries);
//Get Picture
if (items[0] == "Picture")
{
long contentLen = Convert.ToInt64(items[1]);
MemoryStream ms = new MemoryStream();
long size = 0;
while (size < contentLen)
{
//Receive 256 bytes for every loop
byte[] bits = new byte[4096];
int r = client.TcpClient.GetStream().Read(bits, 0, bits.Length);
if (r <= 0)
{
break;
}
ms.Write(bits, 0, r);
size += r;
}
System.Drawing.Image img;
try
{
img = System.Drawing.Image.FromStream(ms);
}
catch (Exception e)
{
InterNetwork.GetInstance().AcquirePicture();
continue;
}
TcpIpFileManager.GetInstance().AddTempFile(img);
}
//Motor State Feedback
else if (items[0] == "Motor")
{
if (items[1] == "Finished")
{
StateManager.ArduinoState.IsBusy = false;
}
else if (items[1] == "GetCommand")
{
StateManager.ArduinoState.IsBusy = true;
}
else
{
throw new NotImplementedException();
}
}
//MPU data send back
else if (items[0] == "MPU")
{
if (items[1] == "Angle")
{
if (items[2] == "Z")
{
FormArduinoControlPanel.GetInstance().WriteToConsole("Z angle = " + items[3]);
}
else
{
throw new NotImplementedException();
}
}
else
{
throw new NotImplementedException();
}
}
//Get Distance Result
else if (items[0] == "DISTANCE")
{
FormArduinoControlPanel.GetInstance().WriteToConsole("Distance = " + items[1]);
Arduino.GetInstance().SonicDistance = Convert.ToSingle(items[1]);
}
//ELSE
else
{
throw new NotImplementedException();
}
}
}
private void FormMain_Load(object sender, EventArgs e)
{
InterNetwork.GetInstance().Init();
StateManager.TcpState.IsClientConnected = false;
FormArduinoControlPanel.GetInstance().Show();
}
