/// <summary>
/// Receive data callback method
/// </summary>
/// <param name="clientNumber"></param>
/// <param name="message"></param>
/// <param name="messageSize"></param>
void OnDataReceived(int clientNumber, byte[] message, int messageSize)
{
try
{
string strMessage = Encoding.Default.GetString(message).Trim('\0');
logger.Debug(strMessage);
if (strMessage.IndexOf(':') > -1)
{
string[] command = strMessage.Split(new char[] { ':' });
int robotIndex = -1;
if (command[1] != null && !string.IsNullOrEmpty(command[1]))
{
if (int.TryParse(command[1], out robotIndex))
{
robotIndex = int.Parse(command[1]);
}
}
logger.DebugFormat("Receive command : {0}", command[0]);
switch (command[0])
{
case "/motoron":
MotorOn(robotIndex);
break;
case "/restart":
Restart(robotIndex);
break;
case "/robotstop":
Pause(robotIndex);
break;
case "/alarmreset":
AlaramReset(robotIndex);
break;
case "/orderstart":
robotManager.OrderStart();
break;
case "/orderstop":
robotManager.OrderStop();
break;
case "/loopcount":
LoopCount = int.Parse(command[1]);
UpdateLogList(string.Format("Loop 카운트가 변경 되었습니다 = {0}", LoopCount));
SetLoopCount(LoopCount);
break;
}
}
}
catch (Exception ex)
{
logger.Error(ex.Message);
}
autoEvent.Set();
}
