public async Task Start(UGV ugv)
{
Device = ugv;
Device.Light("Open", 0);
await Task.Delay(10000);
Device.Light("Close", 0);
}
/// <summary>
/// 接收服务器消息并处理
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void NetClient_OnBufferReceived(object sender, ESocketModule.BufferSendManage.Delegates.BufferReceivedEventArgs e)
{
switch (e.Buffer.BufferName)
{
case "Move":
int speed = Convert.ToInt32(e.Buffer.UserParameters["Speed"]);
Device?.Move(e.Buffer.UserParameters["Direction"], speed);
break;
case "Light":
int id = Convert.ToInt32(e.Buffer.UserParameters["ID"]);
Device?.Light(e.Buffer.UserParameters["State"], id);
break;
case "Servo":
int angle = Convert.ToInt32(e.Buffer.UserParameters["Angle"]);
Device?.Steering(angle);
break;
case "Sensor":
var para = Device?.GetSensorInfo(e.Buffer.UserParameters["Type"]);
para.Add("Type", e.Buffer.UserParameters["Type"]);
NetClient.SendBuffer(null, e.Buffer.BufferName, para, ESocketModule.BufferSendManage.Buffer.SendPriority.Normal);
break;
}
}