public WebSocketProxy(string host, int port,
IConnectionDelegate connectDelegate, INotifyDelegate notifyDelegate)
{
URL = $"ws://{host}:{port}/";
webSocket = new WebSocketSharp.WebSocket(URL);
this.connectDelegate = connectDelegate;
this.notifyDelegate = notifyDelegate;
requestAgent = new RequestAgent();
}
public async Task <bool> ConnectTo(string deviceId, IConnectionDelegate connectionDelegate, INotifyDelegate notifyDelegate)
{
BLE.IIMUNotifyDevice device = new BLE.IMUDevice(deviceId);
try {
device = await device.ConnectionAsync();
} catch (BLE.BLEException e) {
Debug.WriteLine($"{deviceId} connect failed. {e.Message}");
connectionDelegate?.OnConnectFail(deviceId);
device.Dispose();
return(false);
}
device.ConnectionLostObservable()
.Subscribe(_ => { connectionDelegate?.OnConnectLost(deviceId); });
device.ButtonUpdateObservable()
.Subscribe(data => {
bool press = BitConverter.ToBoolean(data, 0);
char name = (char)data[1];
short ms = BitConverter.ToInt16(data, 2);
float time = ms / 1000.0F;
if (press)
{
notifyDelegate?.OnButtonPush(deviceId, name.ToString());
}
else
{
notifyDelegate?.OnButtonRelease(deviceId, name.ToString(), time);
}
});
device.IMUUpdateObservable()
.Subscribe(data => {
var acc = new float[3] {
BitConverter.ToSingle(data, 0),
BitConverter.ToSingle(data, 4),
BitConverter.ToSingle(data, 8)
};
var gyro = new float[3] {
BitConverter.ToSingle(data, 12),
BitConverter.ToSingle(data, 16),
BitConverter.ToSingle(data, 20)
};
var mag = new float[3] {
BitConverter.ToSingle(data, 24),
BitConverter.ToSingle(data, 28),
BitConverter.ToSingle(data, 32)
};
var quat = new float[4] {
BitConverter.ToSingle(data, 36),
BitConverter.ToSingle(data, 40),
BitConverter.ToSingle(data, 44),
BitConverter.ToSingle(data, 48)
};
notifyDelegate?.OnIMUDataUpdate(deviceId, acc, gyro, mag, quat);
});
connectionDelegate?.OnConnectDone(deviceId);
if (deviceDict.ContainsKey(deviceId))
{
// overwrite
deviceDict[deviceId].Dispose();
deviceDict[deviceId] = device;
}
else
{
deviceDict.Add(deviceId, device);
}
return(true);
}
public Task <bool> ConnectTo(string deviceId, IConnectionDelegate connectionDelegate, INotifyDelegate notifyDelegate)
{
return(Task.FromResult(false));
}
