public override IMessageEntity Resolve()
{
DataBufferObject _receiveData = BufferStream;
//查找开头
int headerIndex = _receiveData.IndexOf(_headerBytes);
if (headerIndex >= 0)
{
//有效值
if (headerIndex + 8 > _receiveData.Buffer.Count)
{
Thread.Sleep(10);
return(null);
}
else
{
//取数据
byte[] results = _receiveData.GetAndRemoveRangeWithLock(headerIndex, 8);
return(new IMessageEntity(results, DateTime.Now.Ticks, 8, null));
}
}
else
{
//无效的值，丢弃这些数据
_receiveData.ClearWithLock();
return(null);
}
}
public override IMessageEntity Resolve()
{
DataBufferObject _recievedData = BufferStream;
if (!resAssembling)
{
while (headerIndex + 3 < _recievedData.Buffer.Count && !(_recievedData.Buffer[headerIndex] == 0xFD && _recievedData.Buffer[headerIndex + 1] == 0x00 && _recievedData.Buffer[headerIndex + 2] == 0x80 && _recievedData.Buffer[headerIndex + 3] == 0x00))
{
headerIndex++;
}
if (headerIndex >= _recievedData.Buffer.Count)
{
_recievedData.ClearWithLock();
}
resAssembling = true;
}
if (headerIndex + 2 >= _recievedData.Buffer.Count)
{
Thread.Sleep(10);
}
// 帧长度=数据区长度+1
int length = 264;
if (headerIndex + length > _recievedData.Buffer.Count)
{
Thread.Sleep(10);
}
if (_recievedData.Buffer.Count >= 264)
{
return(new IMessageEntity(_recievedData.GetAndRemoveRangeWithLock(headerIndex, 264), 0, 264, null));
}
else
{
return(null);
}
}
public override IMessageEntity Resolve()
{
DataBufferObject _recievedData = BufferStream;
try
{
//尝试查找包头
headerIndex = _recievedData.IndexOf(_headerBytes);
if (headerIndex >= 0)
{
if (headerIndex + 8 >= _recievedData.Buffer.Count)
{
Thread.Sleep(10);
}
int length = BitConverter.ToInt16(new byte[] { _recievedData.Buffer[headerIndex + 3], _recievedData.Buffer[headerIndex + 4] }, 0);
if (length >= 0)
{
if (headerIndex + length + 8 > _recievedData.Buffer.Count)
{
Thread.Sleep(10);
}
}
else
{
//无效数据
_recievedData.ClearWithLock();
}
if (_recievedData.Buffer.Count >= length + 8)
{
byte[] msg = _recievedData.Buffer.GetRange(headerIndex, length + 8).ToArray();
int newOffset = IRobotMessageDataAdapter.IndexOf(msg, _headerBytes.Length + 1, _headerBytes);
if (newOffset < 0)
{
//解析SeqID并且回复确认
int id = 0;
if (msg[msg.Length - 1] == Utils.CalcCheckCode(new List <byte>(msg)))
{
//设置SeqId
id = BitConverter.ToInt16(new byte[] { msg[5], msg[6] }, 0);
Form1.AIUIConnectionObj.packetBuilder.setSeqId(id);
//自动回复
Form1.AIUIConnectionObj.SendConfirmMessage();
}
//取数据
byte[] bytes = new byte[0];
if (msg[2] == 0x04)
{
bytes = _recievedData.GetAndRemoveRangeWithLock(headerIndex + 7, length).ToArray();
return(new IMessageEntity(bytes, id, bytes.Length, null));
}
else
{
_recievedData.RemoveRangeWithLock(0, headerIndex + length + 8);
return(null);
}
}
else
{
//可能已经丢包了，废弃这个包
_recievedData.RemoveRangeWithLock(0, headerIndex + newOffset);
return(null);
}
}
else
{
return(null);
}
}
else
{
//无效数据
_recievedData.ClearWithLock();
return(null);
}
}
catch (Exception ex)
{
return(null);
}
}