/// <summary>
/// 当消息类型为Information时
/// </summary>
/// <param name="msg"></param>
public void ReceiveInfo(TSocketMessage msg)
{
StoreHeap finalPath = new StoreHeap();
using (MMO_MemoryStream ms = new MMO_MemoryStream(msg.MsgBuffer))
{
// 当未读取到字节流末尾时,将节点信息取出
while (ms.Length != ms.Position)
{
// 分别读取节点编号、节点X坐标、节点Y坐标、途径节点运动方向
Node node = new Node(ms.ReadShort(), ms.ReadShort(), ms.ReadShort(), ms.ReadShort());
finalPath.NodeList.Add(node);
}
}
string result = "";
result += finalPath.NodeList[0].Index.ToString() + "(直行)";
for (int i = 1; i < finalPath.Count; i++)
{
string direction;
if (finalPath.NodeList[i].Direction == 0)
{
direction = "直行";
}
else if (finalPath.NodeList[i].Direction == 1)
{
direction = "左转";
}
else if (finalPath.NodeList[i].Direction == 2)
{
direction = "右转";
}
else
{
direction = "停止";
}
result += " => " + finalPath.NodeList[i].Index.ToString() + $"({direction})";
}
MessageBox.Show(result);
}
/// <summary>
/// 拆包
/// </summary>
/// <param name="buff">缓存区数据</param>
/// <param name="len">数据长度</param>
/// <returns></returns>
public List <TSocketMessage> UnpackData(byte[] buff, int len)
{
// 拷贝本次有效的字节
byte[] _b = new byte[len];
Array.Copy(buff, 0, _b, 0, _b.Length);
buff = _b;
if (this.LBuff.Count > 0)
{
// 拷贝之前遗留的字节
this.LBuff.AddRange(_b);
buff = this.LBuff.ToArray();
this.LBuff.Clear();
this.LBuff = new List <byte>(2);
}
List <TSocketMessage> list = new List <TSocketMessage>();
// 存放 data 的 Crc 校验码
ushort crc = 0;
try
{
// 获取实际数据包体
using (MMO_MemoryStream ms = new MMO_MemoryStream(buff))
{
byte[] _buff;
Label_00983:
#region 包头读取
// 循环读取包头
// 判断本次解析的字节是否满足常量字节数
if (ms.Length - ms.Position < ConstLength)
{
_buff = ms.ReadBytes((int)(ms.Length - ms.Position));
this.LBuff.AddRange(_buff);
return(list);
}
short head11 = ms.ReadShort();
short head22 = ms.ReadShort();
// 如果未找到包头，则将字节流从上一次读取的位置向后移动一字节
if (!(head1 == head11 && head2 == head22))
{
long newPosition = ms.Seek(-3, SeekOrigin.Current);
goto Label_00983;
}
#endregion
// 数据类型
byte msgType = (byte)ms.ReadByte();
// 数据体长度
int offset = ms.ReadInt();
#region 包解析
// 剩余字节数大于本次需要读取的字节数
if (offset <= (ms.Length - ms.Position))
{
crc = ms.ReadUShort();
_buff = ms.ReadBytes(offset - 2);
int newCrc = Crc16.CalculateCrc16(_buff);
if (newCrc == crc)
{
_buff = SecurityUtil.Xor(_buff);
list.Add(new TSocketMessage(_buff, msgType));
}
}
// 剩余字节数刚好小于本次读取的字节数,先存起来,等待接受剩余字节数一起解析
else
{
_buff = ms.ReadBytes((int)(ms.Length - ms.Position));
this.LBuff.AddRange(_buff);
}
#endregion
}
}
catch (Exception ex)
{
throw new Exception("数据读取错误:" + ex.Message);
}
return(list);
}