protected override void Run()
{
try
{
if (isCanSendNext)
{
if (SendPacketQueue.Instance.IsHasData())
{
SendBasePacket sp = SendPacketQueue.Instance.Dequeue();// SendPacketQueue.Instance.Peek();//
AgvServerManager.Instance.Send(sp);
//isCanSendNext = false;
//RunPacket sp = (RunPacket)SendPacketQueue.Instance.Dequeue();
//AgvServerManager.Instance.Send(sp);
//uint x = sp.Locations.MidPoint.X/1000;
//uint y = sp.Locations.MidPoint.Y/1000;
//uint endX = sp.Locations.DesPoint.X/1000;
//uint endY = sp.Locations.DesPoint.Y/1000;
Console.WriteLine("send success,序列号:" + sp.SerialNum);
}
}
}
catch (Exception e)
{
Logs.Error("sendpacketThread" + e);
}
}
public void Send(SendBasePacket pack)
{
try
{
pack.Send(_server);
}
catch { }
}
public void BroadCast(SendBasePacket packet)
{
for (int i = 0; i < _clientList.Count; i++)
{
try { _clientList[i].SendPacket(packet); settings.SendedPackets++; }
catch { }
}
}
private void SendPack(int vnum, SendBasePacket sendPacket)
{
CheckAlarmState(vnum);
AgvServerManager.Instance.SendTo(sendPacket, vnum);
vehicles[vnum].LastSendPacket = sendPacket;
vehicles[vnum].IsAgvReceived = false;
vehicles[vnum].WaitEndTime = DateTime.Now.AddMilliseconds(WAIT_TIME);
PrintInfomation(vnum, sendPacket);
}
//public void Send(SendBasePacket pack)
//{
// try
// {
// pack.Send(_server);
// }
// catch { }
//}
public void SendTo(SendBasePacket pack, int vnum)
{
try
{
//if (vnum == 5)
//{
// vnum = 25;
//}
pack.SendTo(_server, vnum);
}
catch { }
}
//public void Send(SendBasePacket pack)
//{
// try
// {
// pack.Send(_server);
// }
// catch { }
//}
public void SendTo(SendBasePacket pack, int vnum)
{
try
{
if (vnum == 5)
{
vnum = 13;
}
pack.SendTo(_server, vnum);
}
catch { }
}
void PrintInfomation(int vnum, SendBasePacket sendPacket)
{
Console.WriteLine();
Logs.Info("------------------------------------------------------");
String log = String.Format("<-给小车{0}发送{1}报文", vnum, (PacketType)sendPacket.Type);
uint x = Convert.ToUInt32(vehicles[vnum].BeginX);
uint y = Convert.ToUInt32(vehicles[vnum].BeginY);
uint endX = Convert.ToUInt32(vehicles[vnum].EndX);
uint endY = Convert.ToUInt32(vehicles[vnum].EndY);
Logs.Info(String.Format(log + "(" + x + "," + y + ")终点：(" + endX + "," + endY + "),实际位置:(" + vehicles[vnum].agvInfo.CurLocation.CurNode.X / 1000.0 + "," + vehicles[vnum].agvInfo.CurLocation.CurNode.Y / 1000.0 + ") 序列号：" + vehicles[vnum].Serinum));
}
public void SendPacket(SendBasePacket packet)
{
lock (this)
{
packet.Write();
byte[] pck = packet.ToByteArray();
byte PacketId = pck[0];
pck = CryptEngine.Crypt(pck, NetworkKey);
List <Byte> FullPacket = new List <Byte>();
FullPacket.AddRange(BitConverter.GetBytes((short)(pck.Length + 2))); //+2 Packet Length
FullPacket.AddRange(pck);
try { _socket.Send(FullPacket.ToArray()); } catch { }
settings.SendedPackets++;
}
}
public bool SendPacket(SendBasePacket packet)
{
lock (this)
{
try
{
packet.Write();
byte[] pck = CryptEngine.Crypt(packet.ToByteArray());
List <Byte> FullPacket = new List <Byte>();
FullPacket.AddRange(BitConverter.GetBytes((short)(pck.Length + 2))); //+2 Packet Length
FullPacket.AddRange(pck); //Packet
_client.Send(FullPacket.ToArray());
}
catch
{
return(false);
}
return(true);
}
}
public void SendPacket(SendBasePacket packet)
{
lock (this)
{
packet.Write();
byte[] pck = CryptEngine.Crypt(packet.ToByteArray());
if (packet.Length > 60000)
{
return;
}
List <Byte> FullPacket = new List <Byte>();
FullPacket.AddRange(BitConverter.GetBytes((short)(pck.Length + 2))); //+2 Packet Length
FullPacket.AddRange(pck); //Packet
try
{
_client.Send(FullPacket.ToArray());
} catch {}
}
}
protected override void Run()
{
try
{
if (isCanSendNext)
{
if (SendPacketQueue.Instance.IsHasData())
{
SendBasePacket sp = SendPacketQueue.Instance.Peek();
// ReSendPacketQueue.Instance.Enqueue(sp);
AgvServerManager.Instance.Send(sp);
isCanSendNext = false;
Console.WriteLine("iscanSendNext=false");
}
}
}
catch (Exception e)
{
Logs.Error("sendpacketThread" + e);
}
}
