private void OnReceive(IAsyncResult ar)
{
var socket = (Socket)ar.AsyncState;
int received = testSocket.EndReceive(ar);
var receivedData = new byte[received];
Array.Copy(byteData, receivedData, received);
string desc = Encoding.ASCII.GetString(receivedData, 0, received);
if (desc[desc.Length - 1] == 'F')
{
Robot robot = new Robot();
string path = robot.realTimeShortestPath(desc);
this.shortestPath = "A";
if (path != null)
{
this.shortestPath += path;
}
else
{
//no solution
this.shortestPath = "B";
}
sendShortestPath(this.shortestPath);
}
if (desc.Length != 0)
{
OnReceivingData(desc);
}
testSocket.BeginReceive(byteData, 0, byteData.Length, SocketFlags.None, OnReceive, testSocket);
}
