private void HandleAGV(AGV agv)
{
Thread t = new Thread(() =>
{
while (agv.tcpClient.Connected)
{
try
{
agv.odmX = agv.clientBinaryReader.ReadInt16();
agv.odmY = agv.clientBinaryReader.ReadInt16();
agv.odmAngle = agv.clientBinaryReader.ReadInt16();
//Console.WriteLine($"X = {agv.odmX}, Y = {agv.odmY}, Angle = {agv.odmAngle}");
}
catch (Exception ex)
{
//Console.WriteLine(ex);
break;
}
if (agv.isRunning)
{
if (agv.Route.Count > 1)
{
QRCode qr = agv.Route[1];
if (new Rectangle((int)(qr.X - 50), (int)(qr.Y - 50), 100, 100).Contains((int)(agv.odmX), (int)(agv.odmY)))
{
agv.Route.RemoveAt(0);
}
}
else
{
QRCode qr = agv.Route[0];
if (new Rectangle((int)(qr.X - 50), (int)(qr.Y - 50), 100, 100).Contains((int)(agv.odmX), (int)(agv.odmY)))
{
agv.Route.RemoveAt(0);
}
agv.isRunning = false;
}
}
}
Console.WriteLine($"\r\nClient {agv.hostName} is Disconnected!");
AGVList.Remove(agv);
AGVCount--;
});
t.IsBackground = true;
t.Start();
}
