public void OnParsed(DataEventArgs eventArgs)
{
if (DoParse != null)
{
DoParse(this, eventArgs);
}
}
public override void RecvThread(object o)
{
TcpClient client = null;
try
{
using (client = o as TcpClient)
{
var myReadBuffer = new byte[4100];
var stream = client.GetStream();
while (stream.CanRead)
{
Array.Clear(myReadBuffer, 0, 4100); //置零
int numberOfBytesRead = 0;
int id = BitConverter.ToInt32(myReadBuffer, 0);
stream.Read(myReadBuffer, 0, 32); //先读包头
var packetLength = BitConverter.ToUInt32(myReadBuffer, 8);
// Incoming message may be larger than the buffer size.
do
{
int n = stream.Read(myReadBuffer, 32 + numberOfBytesRead, (int)(packetLength - numberOfBytesRead));
numberOfBytesRead += n;
} while (numberOfBytesRead != packetLength);
var e = new DataEventArgs(id,null,myReadBuffer);
OnParsed(e);
}
}
}
catch (Exception exception)
{
UnitCore.Instance.EventAggregator.PublishMessage(new ErrorEvent( exception,
LogType.Both));
}
finally
{
if (client != null)
client.Close();
}
}
public override void RecvThread(object obj)
{
USBLListenerService server = null;
server = obj as USBLListenerService;
if (server != null)
{
var myReadBuffer = new byte[32768];
while (true)
{
try
{
server.LinkerClient = server._tcpListener.AcceptTcpClient();
NetworkStream stream = server.LinkerClient.GetStream();
while (stream.CanRead)
{
Array.Clear(myReadBuffer, 0, 32768); //置零
int numberOfBytesRead = 0;
stream.Read(myReadBuffer, 0, 32); //先读包头
var packetLength = BitConverter.ToUInt32(myReadBuffer, 8)-32;
// Incoming message may be larger than the buffer size.
do
{
int n = stream.Read(myReadBuffer, 32 + numberOfBytesRead,
(int)(packetLength - numberOfBytesRead));
numberOfBytesRead += n;
} while (numberOfBytesRead != packetLength);
int id = BitConverter.ToInt32(myReadBuffer, 0);
var e = new DataEventArgs(id, null, myReadBuffer);
OnParsed(e);
}
}
catch (Exception exception)
{
UnitCore.Instance.EventAggregator.PublishMessage(new ErrorEvent(exception,
LogType.OnlyLog));
}
finally
{
if (server.LinkerClient != null)
server.LinkerClient.Close();
server.LinkerClient = null;
}
}
}
}
protected override void CheckQueue(ref List<byte> queue)
{
var bytes = new byte[queue.Count];
queue.CopyTo(bytes);
if (queue.Count>1)
{
if ((bytes[queue.Count - 2] == '\r') && (bytes[queue.Count - 1] == '\n'))
{
var strcmd = Encoding.ASCII.GetString(bytes);
queue.Clear();
var arg = new DataEventArgs((int)TypeId.GPS, strcmd, bytes);
OnParsed(arg);
}
}
}
protected void CheckQueue(ref List<byte> queue)
{
var bytes = new byte[queue.Count];
queue.CopyTo(bytes);
byte[] ch = new byte[4096];
//对串口接收的数据进行解析
if (queue.Count != 0)
{
check.WriteData(bytes, (uint)queue.Count);//写入循环缓冲区，取完整帧和校验
while (check.IsFull())//取出所有完整帧
{
//校验在PalnS1处理
uint lenth = 0;
check.GetFullData(ch, ref lenth);//得到完整帧以及帧的长度
byte[] DataBuffer = new byte[lenth];
int id = (int)TypeId.Pose; //与网络包格式一致
Buffer.BlockCopy(ch, 0, DataBuffer, 0, (int)lenth);
var e = new DataEventArgs(id, null, DataBuffer);
OnParsed(e);
//break;//只取出一组完整的帧
}
queue.Clear();
}
}
