static void ReadMessage(ClientInfo ci, uint code, byte[] buf, int len)
{
Console.WriteLine("Message, code " + code.ToString("X8") + ", content:");
byte[] ba = new byte[len];
Array.Copy(buf, ba, len);
Console.WriteLine(" " + ByteBuilder.FormatParameter(new Parameter(ba, ParameterType.Byte)));
ci.SendMessage(code, buf, (byte)0, len);
}
static void ReadMessage(ClientInfo ci, uint code, byte[] buf, int len)
{
if (code == ClientInfo.CommandCode)
{
Console.WriteLine("Message length, code " + code.ToString("X8") + ", content:"+buf.ToString());
messageCommand(System.Text.Encoding.UTF8.GetString(buf, 0, len));
ci.SendMessage(ClientInfo.StringCode, Encoding.UTF8.GetBytes(code.ToString("X8")+" success"));
}
else if (code == ClientInfo.VoiceCode)
{
Console.WriteLine("Message length, code " + code.ToString("X8") + ", content:" + buf.ToString());
messageVoice(System.Text.Encoding.UTF8.GetString(buf, 0, len));
ci.SendMessage(ClientInfo.VoiceCode, Encoding.UTF8.GetBytes(code.ToString("X8") + " success"));
}
else if (code == ClientInfo.moveToCode)
{
Console.WriteLine("Message length, code " + code.ToString("X8") + ", content:" + buf.ToString());
string[] value = System.Text.Encoding.UTF8.GetString(buf, 0, len).Split(',');
naoMotion.moveTo(float.Parse(value[0]), float.Parse(value[1]), float.Parse(value[2]));
ci.SendMessage(ClientInfo.VoiceCode, Encoding.UTF8.GetBytes(code.ToString("X8") + " success"));
}
else if (code == ClientInfo.movePeonCode)
{
Console.WriteLine("Message length, code " + code.ToString("X8") + ", content:" + buf.ToString());
string[] value = System.Text.Encoding.UTF8.GetString(buf, 0, len).Split(',');
naoMotion.movePeon(float.Parse(value[0]), float.Parse(value[1]), float.Parse(value[2]), float.Parse(value[3]), float.Parse(value[4]), float.Parse(value[5]));
ci.SendMessage(ClientInfo.movePeonCode, Encoding.UTF8.GetBytes(code.ToString("X8") + " success"));
}
}