private void ReceiveMessage(object client)
{
Socket clientSocket = (Socket)client;
while (true)
{
try
{
//获取从客户端发来的数据
int length = clientSocket.Receive(buffer);
if (length > 0)
{
string cmd = Encoding.UTF8.GetString(buffer, 0, length);
var proResult = MyDataFormat.ParseInputJson(cmd, _env);
string outputJson = MyDataFormat.ParseOutput(proResult);
Console.WriteLine(cmd);
clientSocket.Send(Encoding.UTF8.GetBytes(outputJson));
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
clientSocket.Shutdown(SocketShutdown.Both);
clientSocket.Close();
break;
}
}
}
static public List <Dictionary <int, Vector3> > ParseInputJson(string paramsJson, MyEnvironment env)
{
ReceiveJson param = JsonConvert.DeserializeObject <ReceiveJson>(paramsJson);
List <Dictionary <int, Vector3> > Result = env.StepsMove(param.steps, param.steps_pic, param.step_time, param.G);
//进行投影校正
var corrected = MyDataFormat.Projection(Result, param);
return(corrected);
}