public void Udp()
{ //发点数
//PointNum = StopIndexForSend - StartIndexForSend + 1;
byte u = 0;
sp = new Spmatrix.spmatrix();
PointNum = ListSend.Count;
sp.td = PointNum;
sp.data = new Spmatrix.tupletype[PointNum];
int m = 0;
for (m = 0; m < ListSend.Count; m++)
{
tup.y = ListSend[m].Pointx;
tup.x = ListSend[m].Pointy;
tup.value = ListSend[m].Mode;
tup.U = u;
sp.data[m] = tup;
u++;
}
// CountUdp = ListSend.Count;
vs.PubMsg("Path_GPS", VirtualSwitchBus.GetBytes((object)sp));
//byte[] mysendmessage = new byte[PointNum * 6 + 4];
//mysendmessage = SerializeTool.Serialize(sp, 4, 6);
//SendClient.Send(mysendmessage, PointNum * 6 + 4, IpSend);
}
public Form1()
{
InitializeComponent();
vs = new VirtualSwitchBus(1);
opentxt();
timer1.Enabled = true;
}
public void GetControlMessage(byte[] msg)
{
double[] args = (double[])VirtualSwitchBus.GetObject(msg);
Control_Steer = args[0];
Control_Speed = args[1];
Receive_Speed = args[2];
try
{
Speedlabel.Text = Control_Speed.ToString() + " " + spoff;
Steerlabel.Text = Control_Steer.ToString("F2") + " " + stoff;
}
catch (Exception ee) { }
}