public void FetchData()
{
Dictionary <int, VehicleStates> all_path_param = new Dictionary <int, VehicleStates>();
List <int> vid_list = new List <int>(dict_updgram.Keys);
for (int i = 0; i < vid_list.Count; i++)
{
int vid = vid_list[i];
G.UplinkDGram dgram = new G.UplinkDGram();
net_agent.FetchData(vid, ref dgram);
dict_updgram[vid] = dgram;
// for AllPathCtrl
double x = dgram.m_path_x * 0.0001;
double y = dgram.m_path_y * 0.0001;
double heading = dgram.m_path_heading * 0.01;
int path_id = dgram.m_path_id;
bool b_request = dgram.m_ctrl_info > 0;
VehicleStates stats = new VehicleStates(x, y, heading, path_id, b_request);
all_path_param.Add(vid, stats);
}
truck_mngr.UpdateVehicleStates(all_path_param);
}
/// <summary>
/// 当接收到车辆回传信息报文后，更新所有车辆的位置、航向角、当前路径ID及是否有接管请求。
/// </summary>
/// <param name="_dict">[VehicleID:VehicleStates]形式的字典，来源于车辆上行报文</param>
public void UpdateVehicleStates(Dictionary <int, VehicleStates> _dict)
{
lock (__LOCKOBJ__)
{
foreach (KeyValuePair <int, VehicleStates> pair in _dict)
{
int vid = pair.Key;
if (m_vehicle_states.ContainsKey(vid))
{
Vector2 real_pos = new Vector2((float)pair.Value.x, (float)pair.Value.y);
Vector2 gui_pos = MapBG.CoordTrans_TruckPos_Texture2D(real_pos);
m_vehicle_states[vid] = new VehicleStates(gui_pos.x, gui_pos.y, -1 * (pair.Value.heading + 90), pair.Value.current_path, pair.Value.request);
}
}
}
}