Rev 453 | Go to most recent revision | Details | Last modification | View Log | SVN | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 450 | arune | 1 | using System; |
| 2 | using System.Net; |
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| 3 | using System.Net.Sockets; |
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| 4 | using System.Text; |
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| 5 | using System.Threading; |
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| 6 | using System.Collections; |
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| 7 | using System.IO; |
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| 8 | |||
| 9 | public class DaemonConnection { |
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| 10 | private TcpClient tc; |
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| 11 | private bool running; |
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| 12 | private string host; |
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| 13 | private int port; |
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| 14 | private NetworkStream ns; |
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| 15 | |||
| 16 | const byte DEBUG_LEVEL = 2; //0, 1, 2, 3 |
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| 17 | |||
| 18 | private Queue canPackets = Queue.Synchronized(new Queue()); |
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| 19 | |||
| 20 | public DaemonConnection() { |
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| 21 | } |
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| 22 | |||
| 23 | public void flushData() { |
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| 24 | canPackets.Clear(); |
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| 25 | } |
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| 26 | |||
| 27 | public bool init(string host, int port) { |
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| 28 | //connect |
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| 29 | bool success = false; |
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| 30 | try { |
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| 31 | tc = new TcpClient(); |
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| 32 | tc.Connect(host, port); |
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| 33 | ns = tc.GetStream(); |
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| 34 | Console.WriteLine("Connected to host " + host + " on port " + port); |
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| 35 | success = true; |
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| 36 | running = true; |
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| 37 | |||
| 38 | Thread t = new Thread(thread); |
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| 39 | t.Start(); |
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| 40 | |||
| 41 | } catch { |
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| 42 | Console.WriteLine("Unknown error when connecting to host " + host + " on port " + port); |
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| 43 | } |
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| 44 | return success; |
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| 45 | } |
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| 46 | |||
| 47 | public bool getData(out CanPacket cp) { |
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| 48 | cp = null; |
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| 49 | if (canPackets.Count>0) { |
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| 50 | cp = (CanPacket)canPackets.Dequeue(); |
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| 51 | return true; |
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| 52 | } |
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| 53 | return false; |
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| 54 | } |
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| 55 | |||
| 56 | public void thread() { |
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| 57 | byte[] data = new byte[1024]; |
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| 58 | int recv; |
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| 59 | while (running) { |
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| 60 | Thread.Sleep(20); |
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| 61 | //Console.Write("."); |
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| 62 | if (ns.DataAvailable) { |
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| 63 | recv = ns.Read(data, 0, data.Length); |
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| 64 | if (recv == 0) |
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| 65 | break; |
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| 66 | |||
| 67 | string tcpdata = Encoding.ASCII.GetString(data, 0, recv); |
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| 68 | if (tcpdata.Length>3) { |
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| 69 | CanPacket cp = new CanPacket(tcpdata.Substring(4)); |
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| 70 | canPackets.Enqueue(cp); |
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| 71 | //Console.WriteLine(cp.toRawString()); |
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| 72 | } |
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| 73 | } |
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| 74 | } |
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| 75 | |||
| 76 | ns.Close(); |
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| 77 | tc.Close(); |
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| 78 | } |
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| 79 | |||
| 80 | public void stop() { |
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| 81 | running = false; |
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| 82 | } |
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| 83 | |||
| 84 | public void sendCanPacket(CanPacket cp) { |
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| 85 | if (running) { |
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| 86 | try { |
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| 87 | byte[] data = new byte[1024]; |
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| 88 | |||
| 89 | data = Encoding.ASCII.GetBytes(cp.toRawString()+"\n"); |
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| 90 | ns.Write(data, 0, data.Length); |
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| 91 | } |
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| 92 | catch (Exception) { |
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| 93 | Console.WriteLine("Unknown error occured when trying to send data to host"); |
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| 94 | running = false; |
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| 95 | } |
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| 96 | } |
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| 97 | } |
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| 98 | |||
| 99 | } |