public object Clone()
{
RobotCommand rc = new RobotCommand();
rc.CMD = this.CMD;
rc.ValueA = this.ValueA;
rc.ValueL = this.ValueL;
rc.Timestamp = this.Timestamp;
rc.Status = this.Status;
rc.Positions = this.Positions;
return(rc);
}
public void HandleRequest()
{
StreamReader sr = new StreamReader(client.GetStream());
StreamWriter sw = new StreamWriter(client.GetStream());
try
{
string command = "";
command += sr.ReadLine();
sr.Close();
string[] scommand = command.Split(' ');
RobotCommand rcmd = new RobotCommand();
rcmd.CMD = (Command)Enum.Parse(typeof(Command), scommand[0], true);
switch (rcmd.CMD)
{
case Command.TrackLine:
rcmd.ValueL = Convert.ToDouble(scommand[1]);
break;
case Command.TrackTurnLeft:
case Command.TrackTurnRight:
rcmd.ValueA = Convert.ToInt32(scommand[1]);
break;
case Command.TrackArcLeft:
case Command.TrackArcRight:
rcmd.ValueA = Convert.ToInt32(scommand[1]);
rcmd.ValueL = Convert.ToDouble(scommand[2]);
break;
case Command.Start:
RobotExecutor re = new RobotExecutor(AppData.CommandList.Clone());
AppData.CommandList = new List <RobotCommand>();
new Thread(re.Start).Start();
break;
default:
break;
}
Console.WriteLine(command);
lock (locker)
{
if (rcmd.CMD != Command.Start)
{
AppData.CommandList.Add(rcmd);
}
}
sw.WriteLine("OK");
sw.Flush();
sw.Close();
}
catch (Exception e)
{
}
finally
{
client.Close();
}
}