private void Initialize(string hostEntry, int listenPort)
{
var hostParts = hostEntry.Split(':');
if (hostParts.Length != 2)
throw new ArgumentException("Requires a host entry with this format [IP:port]");
this.hostName = hostParts[0];
this.hostPort = int.Parse(hostParts[1]);
var ipHostEntry = System.Net.Dns.GetHostAddresses(this.hostName);
this.oscClient = new OscClient(ipHostEntry.First(), this.hostPort);
this.DigitalInputs = new PhysicalDevice.DigitalInput[8];
for (int index = 0; index < this.DigitalInputs.Length; index++)
this.DigitalInputs[index] = new PhysicalDevice.DigitalInput();
this.DigitalOutputs = new PhysicalDevice.DigitalOutput[8];
for (int index = 0; index < this.DigitalOutputs.Length; index++)
WireupOutput(index);
this.audioTrackStart = new Subject<string>();
this.Motor = new PhysicalDevice.MotorWithFeedback((target, speed, timeout) =>
{
this.oscClient.Send("/motor/exec", 1, target, (int)(speed * 100), timeout.TotalSeconds.ToString("F0"));
});
this.oscServer = new OscServer(listenPort);
this.oscServer.RegisterAction("/init", msg =>
{
if (!CheckIdempotence(msg))
return;
log.Info("Raspberry is up");
});
this.oscServer.RegisterAction("/audio/trk/done", msg =>
{
if (!CheckIdempotence(msg))
return;
log.Debug("Audio track done");
RaiseAudioTrackDone();
});
this.oscServer.RegisterAction("/video/done", msg =>
{
if (!CheckIdempotence(msg))
return;
log.Debug("Video done");
RaiseVideoTrackDone();
});
this.oscServer.RegisterAction<string>("/audio/bg/start", (msg, data) =>
{
if (!CheckIdempotence(msg))
return;
if (data.Count() >= 2)
{
string track = data.Skip(1).First();
log.Debug("Playing background track {0}", track);
this.audioTrackStart.OnNext(track);
}
});
this.oscServer.RegisterAction<string, int>("/input", (msg, id, data) =>
{
if (!CheckIdempotence(msg))
return;
if (data.Count() >= 2)
{
var values = data.ToArray();
log.Info("Input {0} set to {1}", values[0], values[1]);
if (values[0] >= 0 && values[0] <= 7)
this.DigitalInputs[values[0]].Trigger(values[1] != 0);
}
});
this.oscServer.RegisterAction("/motor/feedback", msg =>
{
if (!CheckIdempotence(msg))
return;
if (msg.Data.Count() >= 2)
{
var values = msg.Data.ToArray();
int motorChn = int.Parse(values[0].ToString());
string motorPos = values[1].ToString();
if (motorPos == "FAIL")
{
log.Info("Motor {0} failed", motorChn);
if (motorChn == 1)
this.Motor.Trigger(null, true);
}
else
{
if (motorPos.StartsWith("S"))
{
int pos = int.Parse(motorPos.Substring(1));
log.Info("Motor {0} starting at position {1}", motorChn, pos);
}
else if (motorPos.StartsWith("E"))
{
int pos = int.Parse(motorPos.Substring(1));
log.Info("Motor {0} ending at position {1}", motorChn, pos);
if (motorChn == 1)
this.Motor.Trigger(pos, false);
}
else
{
int pos = int.Parse(motorPos);
log.Debug("Motor {0} at position {1}", motorChn, pos);
}
}
}
});
this.DigitalInputs = new PhysicalDevice.DigitalInput[8];
for (int index = 0; index < this.DigitalInputs.Length; index++)
this.DigitalInputs[index] = new PhysicalDevice.DigitalInput();
Executor.Current.Register(this);
}
