internal void setByLinkInfoMsg(BytesManager bmanager)
{
//throw new NotImplementedException();
//获取carId
int carId = bmanager.linkInfo.CarID;
windowResized = true;
//MessageBox.Show(this.Height.ToString()+" "+this.Width.ToString());
//Graphics g = this.CreateGraphics();
//Pen p = new Pen(Color.Red);
//g.DrawLine(p, 100, 100, 200, 200);
var windowHeight = this.Size.Height;
var windowWidth = this.Size.Width;
setControlPosition();
Graphics g = this.CreateGraphics();
//清除之前绘制的内容
clearWindow(g);
//设置car2Server的链路
car2ServerNum = setCar2ServerInfo(bmanager.linkInfo.ckband);
uvaNum = setUvaInfo(bmanager.linkInfo.ttlinkinfo);
//绘制新的内容
drawNew(g, windowHeight, windowWidth, car2ServerNum, uvaNum);
}
/// <summary>
/// 调度循环，用于接收命令，完成调度。
/// </summary>
/// <param name="obj"></param>
private void dispatchLoop(object obj)
{
//throw new NotImplementedException();
UdpClient dispatch = obj as UdpClient;
BytesManager bmanager = null;
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, "启动成功");
#endif
while (true)
{
//阻塞，只到接收到消息
Byte[] receiveBytes = null; // dispatch.Receive(ref RemoteIpEndPoint);
string receiveData = null; // Encoding.UTF8.GetString(receiveBytes);
//允许接收任意远端发送的消息
IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
try
{
//阻塞，只到接收到消息
receiveBytes = dispatch.Receive(ref RemoteIpEndPoint);
bmanager = new BytesManager(receiveBytes);
receiveData = Encoding.UTF8.GetString(receiveBytes);
}
catch (Exception e)
{
Trace.WriteLine(e.ToString());
Trace.WriteLine(e.Message);
continue;
}
//输出debug信息
//Trace.WriteLine("接收到消息："+receiveData);
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, ("接收到来自" + RemoteIpEndPoint.ToString() + "消息：" + receiveBytes));
//textBox_sysLog.Invoke(setSysLogCallBack, (receiveBytes));
#endif
string[] commands = receiveData.Split(';');
if (bmanager.msgForm == (int)Global.msgFromType.uva || bmanager.msgForm == (int)Global.msgFromType.helmet)
{
switch (bmanager.uvaMsg.sendType)
{
case '\u0001':
{
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, ("解析到 begin 命令"));
#endif
//获取无人机id
int uvaId = bmanager.uvaMsg.cliNum;
//检查是否重复连接
if (allUVA.ContainsKey(uvaId))
{
string sendString = "error;DuplicateConnection;";
//Byte[] sendBytes = Encoding.UTF8.GetBytes(sendString);
UvaEntity tmpUva = allUVA[uvaId] as UvaEntity;
Byte[] sendBytes = Command.DuplicateConnection(tmpUva.videoIp, tmpUva.videoPort);
try
{
dispatch.Send(sendBytes, sendBytes.Length, RemoteIpEndPoint);
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息{3}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId, sendString));
}
catch (Exception e)
{
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, e.ToString());
#endif
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息失败", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId));
}
break;
}
//接收到连接信息，输出日志信息
textBox_sysLog.Invoke(setSysLogCallBack, ("接收到来自" + RemoteIpEndPoint + "的连接请求"));
//为新的UVA分配接收视频信息的udpClient
int restTimes = Global.MAX_RETRY_TIMES;
while (true)
{
if (restTimes > 0)
{
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, ("正在为" + RemoteIpEndPoint.Address + ":" + RemoteIpEndPoint.Port + "分配视频接收服务器"));
textBox_sysLog.Invoke(setSysLogCallBack, (string.Format("第{0}/{1}次尝试", Global.MAX_RETRY_TIMES - restTimes + 1, Global.MAX_RETRY_TIMES)));
#endif
}
else
{
textBox_sysLog.Invoke(setSysLogCallBack, (string.Format("为{0}:{1}分配视频接收服务器失败，系统资源不足", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port)));
break;
}
restTimes--;
//获取视频接收服务器的ip地址
string video_receive_ip = Global.RECEIVE_VIDEO_SERVER;
//生成端口，检查是否可用
System.Random a = new Random(System.DateTime.Now.Millisecond); // use System.DateTime.Now.Millisecond as seed
int RandKey = a.Next(Global.MINPORT, Global.MAXPORT);
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("为{0}:{1}尝试分配端口{2}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, RandKey));
#endif
try
{
//分配端口成功，开启新的线程，接收视频信息
UdpClient videoReceiveUDPClient = new UdpClient(new IPEndPoint(IPAddress.Parse("0.0.0.0"), RandKey));
videoReceiveUDPClient.Close();
//记录无人机
UvaEntity tmpUVA = new UvaEntity(RemoteIpEndPoint.Address.ToString(), RemoteIpEndPoint.Port, bmanager.uvaMsg.cliNum, video_receive_ip, RandKey, RemoteIpEndPoint);
allUVA.Add(uvaId, tmpUVA);
//开启UDP视频接收线程
//videoReceiveThread = new Thread(new ParameterizedThreadStart(videoReceiveLoop));
//videoReceiveThread.IsBackground = true;
//videoReceiveThread.Start(tmpUVA);
//暂停0.5秒，等待allUVA更新
//System.Threading.Thread.Sleep(500);
//分配成功，输出信息
textBox_sysLog.Invoke(setSysLogCallBack, (string.Format("为{0}:{1}分配视频接收服务器成功，视频接收地址为{2}:{3}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, video_receive_ip, RandKey)));
//在全部无人机combbox里面添加一项
comboBox_allUVA.Invoke(modifyUVACallBack, tmpUVA, true);
break;
}
catch (Exception e)
{
Trace.WriteLine(e.StackTrace);
textBox_sysLog.Invoke(setSysLogCallBack, e.StackTrace.ToString());
textBox_sysLog.Invoke(setSysLogCallBack, e.Message.ToString());
}
}
break;
}
case '\u0003':
case '\u0004':
{
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("接收到{0}信息", bmanager.uvaMsg.sendType == '\u0003'?"end":"ok"));
#endif
//获取无人机id
//int uvaId = Convert.ToInt32(commands[2]);
//获取无人机id
int uvaId = bmanager.uvaMsg.cliNum;
//检查是否重复注销
if (!allUVA.ContainsKey(uvaId))
{
string sendString = "error;DuplicatedeDisconnect;";
//Byte[] sendBytes = Encoding.UTF8.GetBytes(sendString);
Byte[] sendBytes = Command.Error(Global.DuplicatedeDisconnect);
try
{
dispatch.Send(sendBytes, sendBytes.Length, RemoteIpEndPoint);
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息{3}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId, sendString));
}
catch (Exception e)
{
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, e.ToString());
#endif
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息失败", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId));
}
break;
}
//获取无人机实例，进行销毁操作
try
{
UvaEntity tmpUva = allUVA[uvaId] as UvaEntity;
comboBox_allUVA.Invoke(modifyUVACallBack, tmpUva, false);
}
catch (Exception ee)
{
Trace.WriteLine(ee.Message);
}
break;
}
//收到心跳信息
case '\u0002':
{
int id = -1;
string type = null;
string info = null;
try
{
//获取设备的id号
//id = Convert.ToInt32(commands[2]);
id = bmanager.uvaMsg.cliNum;
//获取设备类型
type = bmanager.uvaMsg.cliType == '\u0001'?"uva": "helmet";
//type = commands[1];
//info = commands[3];
Trace.WriteLine("心跳命令解析完毕" + type + id.ToString());
//string[] infos = info.Split('&');
if (!allUVA.Contains(id))
{
Trace.WriteLine(string.Format("{0} {1}已经下线", type, id.ToString()));
break;
}
string x, y, heartTime;
try
{
//x = infos[0];
//y = infos[1];
//heartTime = infos[2];
x = string.Format("{0}_{1}_{2}", bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec);
y = string.Format("{0}_{1}_{2}", bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec);
heartTime = string.Format("{0}_{1}_{2}", bmanager.uvaMsg.hour, bmanager.uvaMsg.minute, bmanager.uvaMsg.second);
UvaEntity tmpUVA = allUVA[id] as UvaEntity;
//tmpUVA.receiveHeartAsync(x, y, heartTime);
byte[] sendBytes = Command.HeratResponse(tmpUVA);
string gpsString = string.Format("{0}{1}{2}{3},{4}{5}{6}{7}",
bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec, bmanager.uvaMsg.latDir,
bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec, bmanager.uvaMsg.lonDir);
dispatch.Send(sendBytes, sendBytes.Length, RemoteIpEndPoint);
#if DEBUG
Trace.WriteLine(string.Format("Terminal {8} GPS Info:\r\n{0}{1}{2}{3},{4}{5}{6}{7}\r\n",
bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec, bmanager.uvaMsg.latDir,
bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec, bmanager.uvaMsg.lonDir,
id));
textBox_sysLog.Invoke(setSysLogCallBack, string.Format("解析到心跳命令\r\n" +
"终端 {0} GPS:{1}\r\n" +
"时间 {2}", id, gpsString, heartTime));
#endif
if ((allUVA[id] as UvaEntity).panelName == Global.MAIN_PANEL)
{
labelGPS.Invoke(updateGPSCAllBack, string.Format("{0}{1}{2}{3},{4}{5}{6}{7}",
bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec, bmanager.uvaMsg.latDir,
bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec, bmanager.uvaMsg.lonDir));
}
}
catch (Exception e)
{
Trace.WriteLine("info解析失败");
Trace.WriteLine(e.StackTrace);
Trace.WriteLine(e.Message);
#if DEBUG
textBox_sysLog.Invoke(setSysLogCallBack, e.Message);
#endif
//throw;
}
}
catch (Exception e)
{
Trace.WriteLine(e.StackTrace);
Trace.WriteLine(e.Message);
//throw;
}
break;
}
default:
break;
}
}
else if (bmanager.msgForm == (int)Global.msgFromType.linkInfo)
{
linkInfoBoard.setByLinkInfoMsg(bmanager);
}
}
}