//接收到客户端的数据事件
private void process_receive(SocketAsyncEventArgs e)
{
// check if the remote host closed the connection
if (e.SocketError == SocketError.Success && e.BytesTransferred > 0)
{
AsyncUserToken token = e.UserToken as AsyncUserToken;
System.Net.Sockets.Socket socket = token.Socket;
//放入对应的robot的queue中
int socketId = m_robotSystem.get_socketToRobotMap()[socket];
Robot robot = m_robotSystem.get_robots()[socketId];
byte[] data = new byte[e.BytesTransferred];
Array.Copy(e.Buffer, e.Offset, data, 0, data.Length);
lock (token.Buffer)
{
token.Buffer.AddRange(data);
}
do// (packedDataOffset < e.BytesTransferred)
{
byte[] lengthByte = token.Buffer.GetRange(0, 4).ToArray();
int length = BitConverter.ToInt32(lengthByte, 0);
if (length > token.Buffer.Count - 4)
{
break;
}
byte[] msgData = token.Buffer.GetRange(4, length).ToArray();
lock (token.Buffer)
{
token.Buffer.RemoveRange(0, length + 4);
}
//放入对应的robot的queue中
NetworkMsg netMsg = PBSerializer.deserialize <NetworkMsg>(msgData);
robot.m_clientSocket.dump_receive_queue(netMsg);
} while (token.Buffer.Count > 4);
Interlocked.Add(ref m_totalBytesRead, e.BytesTransferred);
if (!socket.ReceiveAsync(e))
{
process_receive(e);
}
}
else
{
close_clientSocket(e);
}
}
public SandBox()
{
//Robot 输入操作定时器，robot每隔timer.Interval产生一次操作
Timer timer = new Timer();
timer.Enabled = true;
timer.Interval = 1.0 / Config.fps * 1000;
timer.Start();
timer.Elapsed += new ElapsedEventHandler(sandbox_update);
s_robotSystem.generate_robots(Config.numRobotsCreate);
m_robots = s_robotSystem.get_robots();
}
