/// <summary>
/// server receives data
/// </summary>
/// <param name="server">server object</param>
private static void Update(dpslamServer server, ArrayList buffer)
{
while (server.GetNoOfConnectedClients() > 0)
{
if (buffer.Count > 1)
{
int client_number = (int)buffer[1];
// process the receive buffer
if (dpslamServer.EndOfReceive((string)buffer[0]))
{
server.ProcessReceiveBuffer(client_number, buffer);
}
else
{
string buffer_str = ConsolidateBuffer(client_number, buffer);
if (dpslamServer.EndOfReceive(buffer_str))
{
server.ProcessReceiveBuffer(client_number, buffer);
}
}
//Console.WriteLine("buffer size = " + buffer.Count.ToString());
}
System.Threading.Thread.Sleep(5);
}
}
/// <summary>
/// server receives data
/// </summary>
/// <param name="server">server object</param>
private static void Update(dpslamServer server, ArrayList buffer)
{
while (server.GetNoOfConnectedClients() > 0)
{
if (buffer.Count > 1)
{
int client_number = (int)buffer[1];
// process the receive buffer
if (dpslamServer.EndOfReceive((string)buffer[0]))
{
server.ProcessReceiveBuffer(client_number, buffer);
}
else
{
string buffer_str = ConsolidateBuffer(client_number, buffer);
if (dpslamServer.EndOfReceive(buffer_str))
{
server.ProcessReceiveBuffer(client_number, buffer);
}
}
//Console.WriteLine("buffer size = " + buffer.Count.ToString());
}
System.Threading.Thread.Sleep(5);
}
}
/// <summary>
/// constructor
/// </summary>
public ThreadServerReceive(WaitCallback callback, dpslamServer server, ArrayList receive_buffer)
{
if (callback == null) throw new ArgumentNullException("callback");
_callback = callback;
_server = server;
_buffer = receive_buffer;
}
public static void Main(string[] args)
{
// ensure that the program isn't run more than once
bool mutex_ok;
System.Threading.Mutex m = new System.Threading.Mutex(true, "dpslamserver", out mutex_ok);
// extract command line parameters
ArrayList parameters = commandline.ParseCommandLineParameters(args, "-", GetValidParameters());
string forced = commandline.GetParameterValue("force", parameters);
if ((!mutex_ok) && (forced == ""))
{
Console.WriteLine("This service is already running");
}
else
{
string help_str = commandline.GetParameterValue("help", parameters);
if (help_str != "")
{
ShowHelp();
}
else
{
int PortNumber = 1055;
string port_str = commandline.GetParameterValue("port", parameters);
if (port_str != "") PortNumber = Convert.ToInt32(port_str);
int no_of_stereo_cameras = 1;
string no_of_stereo_cameras_str = commandline.GetParameterValue("cams", parameters);
if (no_of_stereo_cameras_str != "")
{
no_of_stereo_cameras = Convert.ToInt32(no_of_stereo_cameras_str);
}
Console.WriteLine("DP-SLAM Server version 0.1");
dpslamServer server = null;
// create the server
server = new dpslamServer(no_of_stereo_cameras);
// start the server
server.Start(PortNumber);
while ((server.Running) &&
(server.kill == false))
{
System.Threading.Thread.Sleep(30);
}
}
// keeping the dream alive
GC.KeepAlive(m);
}
}
/// <summary>
/// constructor
/// </summary>
public ThreadServerReceive(WaitCallback callback, dpslamServer server, ArrayList receive_buffer)
{
if (callback == null)
{
throw new ArgumentNullException("callback");
}
_callback = callback;
_server = server;
_buffer = receive_buffer;
}
