【iOS与EV3混合机器人编程一系列五个】iOS_WiFi_EV3_Library 解剖连接EV3

- (void)udpSocket:(GCDAsyncUdpSocket *)sock didReceiveData:(NSData *)data
      fromAddress:(NSData *)address
withFilterContext:(id)filterContext
{
        // 1
        NSString *msg = [[NSString alloc] initWithData:data encoding:NSUTF8StringEncoding];
        if (msg)
        {
        // 2
        NSString *serialNumber = [msg substringWithRange:NSMakeRange(14, 12)];
        
        NSString *host = [GCDAsyncUdpSocket hostFromAddress:address];
        
        EV3Device *device = [self.devices objectForKey:host];

        if (!device && host.length < 20) {
            
// 3
            EV3Device *aDevice = [[EV3Device alloc] initWithSerialNumber:serialNumber address:host tag:self.devices.count isConnected:NO];
            
            
            
            // 4
            dispatch_queue_t tcpSocketQueue = dispatch_queue_create("com.manmanlai.tcpSocketQueue", DISPATCH_QUEUE_CONCURRENT);
            GCDAsyncSocket *tcpSocket = [[GCDAsyncSocket alloc] initWithDelegate:self delegateQueue:tcpSocketQueue];
            
            aDevice.tcpSocket = tcpSocket;
            
            
            [self.devices setObject:aDevice forKey:aDevice.address];
            
            
            
            if ([self.delegate respondsToSelector:@selector(updateView)]) {
                dispatch_async(dispatch_get_main_queue(), ^{
                    [self.delegate updateView];
                });
            }
        }
        
        }
        else
        {
        NSLog(@"Error converting received data into UTF-8 String");
        }
        // 5
        [self.udpSocket sendData:data toAddress:address withTimeout:-1 tag:0];
}

- (void)connectTCPSocketWithDevice:(EV3Device *)device
{
    
    GCDAsyncSocket *tcpSocket = device.tcpSocket;
    // connnect
    NSError *error = nil;
    if (![tcpSocket connectToHost:device.address
                                onPort:5555
                                 error:&error])
    {
        NSLog(@"Error connecting: %@", error);
        
    } else {
        NSLog(@"Connected");
        // write data
        NSLog(@"writing...");
        NSString *unlockMsg = [NSString stringWithFormat:@"GET /target?sn=%@ VMTP1.0 Protocol: EV3",device.serialNumber];
        NSData *unlockData = [unlockMsg dataUsingEncoding:NSUTF8StringEncoding];
        [tcpSocket writeData:unlockData withTimeout:-1 tag:MESSAGE_UNLOCK];
        
        [tcpSocket readDataWithTimeout:-1 tag:MESSAGE_UNLOCK];
        
    }
    
    
}

- (void)socket:(GCDAsyncSocket *)sock didReadData:(NSData *)data withTag:(long)tag
{
    NSString *host = sock.connectedHost;
    EV3Device *device = [self.devices objectForKey:host];
    
    [device handleReceivedData:data withTag:tag];        
}