//接收循环
func (r *Robot) RecvLoop() {
defer r.Close()
elog.LogDebug(" robot %d read loop run ", r.id)
buf := make([]byte, 1024*1024)
for {
select {
case <-r.closeCh: //机器人关闭信号
elog.LogSysln("read loop begin stop ")
return
default:
}
r.tcpConn.SetDeadline(time.Now().Add(1e9))
n, err := r.tcpConn.Read(buf)
if err != nil {
if opErr, ok := err.(*net.OpError); ok && opErr.Timeout() {
continue
}
elog.LogErrorln(" read data error ", err)
return
}
elog.LogSys(" ********* read data : %d ", n)
r.recvBuf.Write(buf[0:n])
var msg Message
binary.Read(r.recvBuf, binary.LittleEndian, msg.id)
msg.Data = make([]byte, r.recvBuf.Len())
r.recvBuf.Read(msg.Data)
r.recvCh <- msg
}
}
//发送循环
func (r *Robot) SendLoop() {
defer r.Close()
elog.LogDebug(" robot %d send loop run ", r.id)
for {
select {
case msg := <-r.sendCh: //从发送通道取出待发送消息
elog.LogInfo(" encode msg :%d ", msg.id)
binary.Write(r.sendBuf, binary.LittleEndian, msg.id) //写ID
binary.Write(r.sendBuf, binary.LittleEndian, msg.Data) //写数据
byte := r.sendBuf.Bytes()
n, err := r.tcpConn.Write(byte)
if err != nil {
elog.LogSysln(" conn ", r.id, " write data fail :", err)
return
}
elog.LogInfo(" write msg :%d ", n, hex.Dump(r.sendBuf.Bytes()))
case <-r.closeCh: //机器人关闭信号
elog.LogDebug(" send loop begin close ")
return
}
}
elog.LogDebug("send loop close ")
}