public MachinaBridgeWindow()
{
InitializeComponent();
dc = new BoundContent(this);
DataContext = dc;
uiContext = SynchronizationContext.Current;
_maxLogLevel = Machina.LogLevel.VERBOSE;
Logger.CustomLogging += Logger_CustomLogging;
Logger.Info("Machina Bridge: " + Version + "; Core: " + Robot.Version);
InitializeWebSocketServer();
// Handle pasting text on the input
DataObject.AddPastingHandler(InputBlock, InputBlock_Paste);
#if DEBUG
var item = combo_LogLevel.Items.GetItemAt(5) as ComboBoxItem;
item.IsSelected = true;
#endif
}
private bool ParseWebSocketURL()
{
string url = txtbox_WSServerURL.Text;
string[] parts = url.Split(new char[] { '/' }, StringSplitOptions.RemoveEmptyEntries);
// Should be something like {"ws:", "127.0.0.1", "route" [, ...] }
if (parts.Length < 3)
{
Logger.Error("Please add a route to the websocket url, like \"/Bridge\"");
return(false);
}
else if (!parts[0].Equals("ws:", StringComparison.InvariantCultureIgnoreCase))
{
Logger.Error("WebSocket URL must start with \"ws:\"");
return(false);
}
else if (!Machina.Net.Net.ValidateIPv4Port(parts[1]))
{
Logger.Error("Invalid IP:Port address \"" + parts[1] + "\"");
return(false);
}
wssvURL = parts[0] + "//" + parts[1];
wssvBehavior = "/" + String.Join("/", parts, 2, parts.Length - 2);
Logger.Debug("WebSocket server URL: " + wssvURL);
Logger.Debug("WebSocket server route: " + wssvBehavior);
return(true);
}
private void cbx_FollowPointer_Unchecked(object sender, RoutedEventArgs e)
{
if (dc != null)
{
Logger.Debug("Follow program pointer deactivated.");
dc.queueFollowPointer = false;
}
}
/// <summary>
/// Print error when wrong tool is metioned. Function only works for creating of tools atm
/// line number will automatically change.
/// </summary>
/// <param name="tool"></param>
private void ErrorWithLineNum(string tool)
{
StackFrame stackFrame = new StackFrame(1, true);
int line = stackFrame.GetFileLineNumber();
Logger.Error($"tool {tool} doesn't exists yet in the source code." +
$"source code needs to be edited at MainWindow.xaml.cs line {line} ");
}
private void StopWebSocketClient()
{
if (wscl != null)
{
Logger.Verbose("Stopping WebSocket client on " + wscl.Url);
wscl.Close();
wscl = null;
}
}
private void StopWebSocketServer()
{
if (wssv != null)
{
Logger.Verbose("Stopping WebSocket service on " + wssv.Address + ":" + wssv.Port + wssv.WebSocketServices.Paths.ElementAt(0));
wssv.Stop();
wssv = null;
}
}
private void Wscl_OnMessage(object sender, MessageEventArgs e)
{
if (bot == null)
{
wscl.Send($"{{\"event\":\"controller-disconnected\"}}");
return;
}
//Logger.Verbose("Action from \"" + _clientName + "\": " + e.Data);
Logger.Verbose("Instruction/s received from Machina Server: " + e.Data);
ExecuteInstructionsOnContext(e.Data);
}
protected override void OnClose(CloseEventArgs e)
{
//base.OnClose(e);
Logger.Debug($"WS client disconnected: {e.Code} {e.Reason}");
Logger.Warning("Client \"" + _clientName + "\" disconnected...");
_parent._connectedClients.Remove(_clientName);
//_parent.UpdateClientBox();
_parent.uiContext.Post(x =>
{
_parent.UpdateClientBox();
}, null);
_parent.wssv.WebSocketServices.Broadcast($"{{\"event\":\"client-disconnected\",\"user\":\"clientname\"}}");
}
protected override void OnMessage(MessageEventArgs e)
{
//base.OnMessage(e);
//Console.WriteLine(" BRIDGE: received message: " + e.Data);
if (_robot == null || _parent.bot == null)
{
_parent.wssv.WebSocketServices.Broadcast($"{{\"event\":\"controller-disconnected\"}}");
return;
}
Logger.Verbose("Action from \"" + _clientName + "\": " + e.Data);
_parent.ExecuteInstructionsOnContext(e.Data);
}
protected override void OnOpen()
{
//base.OnOpen();
//Console.WriteLine(" BRIDGE: opening bridge");
_clientName = Context.QueryString["name"];
_parent._connectedClients.Add(_clientName);
//_parent.UpdateClientBox();
_parent.uiContext.Post(x =>
{
_parent.UpdateClientBox();
}, null);
Logger.Info("Client \"" + _clientName + "\" connected...");
}
// Figures out if auto-scroll, and deactivates follow pointer if not
private void QueueScroller_ScrollChanged(object sender, ScrollChangedEventArgs e)
{
// Figure out if this was related to auto scrolling
if (e.VerticalChange == 0.0 ||
e.ExtentHeight == 0 ||
e.ExtentHeightChange > 0)
{
return;
}
if (isUserScroll && dc.queueFollowPointer)
{
Logger.Debug("Manual scroll detected, deactivating 'Follow Pointer'.");
dc.queueFollowPointer = false;
cbx_FollowPointer.IsChecked = false;
cbx_FollowPointer_Unchecked(null, null);
}
isUserScroll = true;
}
private bool InitializeWebSocketServer()
{
if (!ParseWebSocketURL())
{
Logger.Error("Invalid WebSocket URL \"" + txtbox_WSServerURL.Text + "\"; try something like \"ws://127.0.0.1/Bridge\"");
return(false);
}
if (wssv != null && wssv.IsListening)
{
StopWebSocketServer();
}
wssv = new WebSocketServer(wssvURL);
wssv.AddWebSocketService(wssvBehavior, () => new BridgeBehavior(bot, this));
// @TODO: add a check here if the port is in use, and try a different port instead
try
{
wssv.Start();
}
catch
{
Logger.Error("Default websocket server is not available, please enter a new one manually...");
return(false);
}
if (wssv.IsListening)
{
//Machina.Logger.Info($"Listening on port {wssv.Port}, and providing WebSocket services:");
//foreach (var path in wssv.WebSocketServices.Paths) Machina.Logger.Info($"- {path}");
Logger.Info("Waiting for incoming connections on " + (wssvURL + wssvBehavior));
}
return(true);
//lbl_ServerURL.Content = wssvURL + wssvBehavior;
}
public bool ExecuteInstruction(string instruction)
{
string[] args = Machina.Utilities.Parsing.ParseStatement(instruction);
if (args == null || args.Length == 0)
{
Machina.Logger.Error($"I don't understand \"{instruction}\"...");
return(false);
}
// This is horrible, but oh well...
if (args[0].Equals("MotionMode", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.MotionMode(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Speed", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Speed(Convert.ToDouble(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("SpeedTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.SpeedTo(Convert.ToDouble(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Acceleration", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Acceleration(Convert.ToDouble(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("AccelerationTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AccelerationTo(Convert.ToDouble(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Precision", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Precision(Convert.ToDouble(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("PrecisionTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.PrecisionTo(Convert.ToDouble(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Coordinates", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("Temperature", StringComparison.CurrentCultureIgnoreCase) || args[0].Equals("TemperatureTo", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("ExtrusionRate", StringComparison.CurrentCultureIgnoreCase) || args[0].Equals("ExtrusionRateTo", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("PushSettings", StringComparison.CurrentCultureIgnoreCase))
{
bot.PushSettings();
return(true);
}
else if (args[0].Equals("PopSettings", StringComparison.CurrentCultureIgnoreCase))
{
bot.PopSettings();
return(true);
}
else if (args[0].Equals("Move", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Move(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("MoveTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.MoveTo(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Rotate", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Rotate(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3]), Convert.ToDouble(args[4])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("RotateTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.RotateTo(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3]),
Convert.ToDouble(args[4]), Convert.ToDouble(args[5]), Convert.ToDouble(args[6])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Transform", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("TransformTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.TransformTo(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3]),
Convert.ToDouble(args[4]), Convert.ToDouble(args[5]), Convert.ToDouble(args[6]),
Convert.ToDouble(args[7]), Convert.ToDouble(args[8]), Convert.ToDouble(args[9])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Axes", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Axes(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3]),
Convert.ToDouble(args[4]), Convert.ToDouble(args[5]), Convert.ToDouble(args[6])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("AxesTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AxesTo(Convert.ToDouble(args[1]), Convert.ToDouble(args[2]), Convert.ToDouble(args[3]),
Convert.ToDouble(args[4]), Convert.ToDouble(args[5]), Convert.ToDouble(args[6])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ExternalAxis", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int axisNumber;
double increment;
if (!Int32.TryParse(args[1], out axisNumber) || axisNumber < 1 || axisNumber > 6)
{
Logger.Error($"Invalid axis number");
return(false);
}
if (!Double.TryParse(args[2], out increment))
{
Logger.Error($"Invalid increment value");
return(false);
}
string target = "All";
if (args.Length > 3)
{
target = args[3];
}
return(bot.ExternalAxis(axisNumber, increment, target));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ExternalAxisTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int axisNumber;
double val;
if (!Int32.TryParse(args[1], out axisNumber) || axisNumber < 1 || axisNumber > 6)
{
Logger.Error($"Invalid axis number");
return(false);
}
if (!Double.TryParse(args[2], out val))
{
Logger.Error($"Invalid value " + args[2]);
return(false);
}
string target = "All";
if (args.Length > 3)
{
target = args[3];
}
return(bot.ExternalAxisTo(axisNumber, val, target));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ArmAngle", StringComparison.CurrentCultureIgnoreCase))
{
Logger.Warning(
"Relative `ArmAngle` is temporarily disabled, please use the absolute `ArmAngleTo` version instead.");
//try
//{
// double val;
// if (!Double.TryParse(args[1], out val))
// {
// Console.WriteLine($"ERROR: Invalid value " + args[1]);
// return false;
// }
// return bot.ArmAngle(val);
//}
//catch (Exception ex)
//{
// BadFormatInstruction(instruction, ex);
// return false;
//}
}
else if (args[0].Equals("ArmAngleTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
double val;
if (!Double.TryParse(args[1], out val))
{
Logger.Error($"Invalid value " + args[1]);
return(false);
}
return(bot.ArmAngleTo(val));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Wait", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Wait(Convert.ToInt32(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Message", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Message(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Comment", StringComparison.CurrentCultureIgnoreCase))
{
// Do noLightg here, just go through with it.
return(true);
}
else if (args[0].Equals("CustomCode", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Warning("\"CustomCode\" can lead to unexpected results, use with caution and only if you know what you are doing.");
try
{
string statement = args[1];
bool dec = false;
if (args.Length > 2)
{
dec = bool.Parse(args[2]); // if not good, throw and explain
}
return(bot.CustomCode(statement, dec));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
}
return(false);
}
else if (args[0].Equals("new Tool", StringComparison.CurrentCultureIgnoreCase) ||
args[0].Equals("Tool.Create", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is deprecated, please update your client and use \"DefineTool\" instead. Action will have no effect.");
return(false);
}
else if (args[0].Equals("DefineTool", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.DefineTool(args[1],
Convert.ToDouble(args[2]), Convert.ToDouble(args[3]), Convert.ToDouble(args[4]),
Convert.ToDouble(args[5]), Convert.ToDouble(args[6]), Convert.ToDouble(args[7]),
Convert.ToDouble(args[8]), Convert.ToDouble(args[9]), Convert.ToDouble(args[10]),
Convert.ToDouble(args[11]),
Convert.ToDouble(args[12]), Convert.ToDouble(args[13]), Convert.ToDouble(args[14])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Attach", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is deprecated, please update your client and use \"AttachTool\" instead. Action will have no effect.");
return(false);
}
else if (args[0].Equals("AttachTool", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AttachTool(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Detach", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Warning($"\"{args[0]}\" is deprecated, please update your client and use \"DetachTool\" instead.");
return(bot.DetachTool());
}
else if (args[0].Equals("DetachTool", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DetachTool());
}
else if (args[0].Equals("WriteDigital", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int count = args.Length;
int pin = 0;
bool digitalPin = Int32.TryParse(args[1], out pin);
// Numeric pins
if (digitalPin)
{
switch (count)
{
case 3: return(bot.WriteDigital(pin, Convert.ToBoolean(args[2])));
case 4: return(bot.WriteDigital(pin, Convert.ToBoolean(args[2]), Convert.ToBoolean(args[3])));
}
}
// Named pins (ABB)
else
{
switch (count)
{
case 3: return(bot.WriteDigital(args[1], Convert.ToBoolean(args[2])));
case 4: return(bot.WriteDigital(args[1], Convert.ToBoolean(args[2]), Convert.ToBoolean(args[3])));
}
}
// If here, something went wrong...
Machina.Logger.Error($"Badly formatted instruction: \"{instruction}\"");
return(false);
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("WriteAnalog", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int count = args.Length;
int pin = 0;
bool digitalPin = Int32.TryParse(args[1], out pin);
if (digitalPin)
{
switch (count)
{
case 3: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2])));
case 4: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2]), Convert.ToBoolean(args[3])));
}
}
else
{
switch (count)
{
case 3: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2])));
case 4: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2]), Convert.ToBoolean(args[3])));
}
}
// If here, something went wrong...
Machina.Logger.Error($"Badly formatted instruction: \"{instruction}\"");
return(false);
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Extrude", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Extrude());
}
// If here, instruction is not available or something went wrong...
Machina.Logger.Error($"I don't understand \"{instruction}\"...");
return(false);
}
internal void DownloadDrivers()
{
Logger.Info("Downloading Machina Drivers for " + _robotBrand + " robot on " + txtbox_IP.Text + ":" + txtbox_Port.Text);
// Create a fake robot not to interfere with the main one
Robot driverBot = Robot.Create(_robotName, _robotBrand);
driverBot.ControlMode(ControlType.Online);
var parameters = new Dictionary <string, string>()
{
{ "HOSTNAME", txtbox_IP.Text },
{ "PORT", txtbox_Port.Text }
};
var files = driverBot.GetDeviceDriverModules(parameters);
// Clear temp folder
string path = System.IO.Path.Combine(System.IO.Path.GetTempPath(), "machina_modules");
//https://stackoverflow.com/a/1288747/1934487
System.IO.DirectoryInfo di = new DirectoryInfo(path);
if (di.Exists)
{
Logger.Debug("Clearing " + path);
foreach (FileInfo file in di.GetFiles())
{
Logger.Debug("Deleting " + file.FullName);
file.Delete();
}
foreach (DirectoryInfo dir in di.GetDirectories())
{
Logger.Debug("Deleting " + dir.FullName);
dir.Delete(true);
}
}
else
{
di.Create();
Logger.Debug("Created " + path);
}
// Save temp files
foreach (var pair in files)
{
string filename = pair.Key;
string content = pair.Value;
string filepath = System.IO.Path.Combine(path, filename);
try
{
System.IO.File.WriteAllText(filepath, content, Encoding.ASCII);
}
catch
{
Logger.Error("Could not save " + filename + " to " + filepath);
Logger.Error("Could not download drivers");
return;
}
Logger.Debug("Saved module to " + filepath);
}
// Zip the file
string zipPath = System.IO.Path.Combine(System.IO.Path.GetTempPath(), "machina_modules.zip");
System.IO.FileInfo fi = new FileInfo(zipPath);
if (fi.Exists)
{
fi.Delete();
Logger.Debug("Deleted previous " + zipPath);
}
ZipFile.CreateFromDirectory(path, zipPath);
Logger.Debug("Zipped files to " + zipPath);
// Prompt file save dialog: https://www.wpf-tutorial.com/dialogs/the-savefiledialog/
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = "Zip file (*.zip)|*.zip";
saveFileDialog.DefaultExt = "zip";
saveFileDialog.AddExtension = true;
saveFileDialog.InitialDirectory = Environment.GetFolderPath(Environment.SpecialFolder.Desktop);
saveFileDialog.FileName = "machina_modules.zip";
if (saveFileDialog.ShowDialog() == true)
{
fi = new FileInfo(saveFileDialog.FileName);
if (fi.Exists)
{
fi.Delete();
Logger.Debug("Deleted previous " + saveFileDialog.FileName);
}
File.Copy(zipPath, saveFileDialog.FileName);
Logger.Debug("Copied " + zipPath + " to " + saveFileDialog.FileName);
Logger.Info("Drivers saved to " + saveFileDialog.FileName);
}
}
private void Bot_MotionUpdate(object sender, MotionUpdateArgs args)
{
Logger.Debug(args.ToString());
}
private void Wscl_OnOpen(object sender, EventArgs e)
{
Logger.Debug("Opened WS client connection: ");
}
public bool ExecuteInstruction(string instruction)
{
string[] args = Machina.Utilities.Parsing.ParseStatement(instruction);
if (args == null || args.Length == 0)
{
Machina.Logger.Error($"I don't understand \"{instruction}\"...");
return(false);
}
// ███╗ ███╗██╗ ██╗ ██████╗ ██╗ ██╗███╗ ██╗
// ████╗ ████║╚██╗ ██╔╝ ██╔═══██╗██║ ██║████╗ ██║
// ██╔████╔██║ ╚████╔╝ ██║ ██║██║ █╗ ██║██╔██╗ ██║
// ██║╚██╔╝██║ ╚██╔╝ ██║ ██║██║███╗██║██║╚██╗██║
// ██║ ╚═╝ ██║ ██║ ╚██████╔╝╚███╔███╔╝██║ ╚████║
// ╚═╝ ╚═╝ ╚═╝ ╚═════╝ ╚══╝╚══╝ ╚═╝ ╚═══╝
if (args[0].Equals("Test1", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Test1());
}
else if (args[0].Equals("Test2", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Test2());
}
// easy way to define tool
else if (args[0].Equals("tool", StringComparison.CurrentCultureIgnoreCase))
{
if (args[1].Equals("pallet", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DefineTool("pallet", new Machina.Point(-63, 0, 70), Machina.Orientation.WorldXY));
}
if (args[1].Equals("vacuum", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DefineTool("vacuum", new Machina.Point(83, 0, 50), Machina.Orientation.WorldXY));
}
// print error with line number.
ErrorWithLineNum(args[1]);
return(false);
}
else if (args[0].Equals("MoveToRobTarget", StringComparison.CurrentCultureIgnoreCase))
{
// action MoveToRobTarget is only available in ABB robots
// further testing for UR robots is needed (have no UR Robot)
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.MoveToRobTarget(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
else if (args[0].Equals("MoveCToRobTarget", StringComparison.CurrentCultureIgnoreCase))
{
// Action MovecToRobTarget is only available to ABB robots
// further testing for UR robots is needed (have no UR Robot)
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.MovecToRobTarget(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture),
Convert.ToDouble(args[12], CultureInfo.InvariantCulture),
Convert.ToDouble(args[13], CultureInfo.InvariantCulture),
Convert.ToDouble(args[14], CultureInfo.InvariantCulture),
Convert.ToDouble(args[15], CultureInfo.InvariantCulture),
Convert.ToDouble(args[16], CultureInfo.InvariantCulture),
Convert.ToDouble(args[17], CultureInfo.InvariantCulture),
Convert.ToDouble(args[18], CultureInfo.InvariantCulture),
Convert.ToDouble(args[19], CultureInfo.InvariantCulture),
Convert.ToDouble(args[20], CultureInfo.InvariantCulture),
Convert.ToDouble(args[21], CultureInfo.InvariantCulture),
Convert.ToDouble(args[22], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
else if (args[0].Equals("abbDefineTool", StringComparison.CurrentCultureIgnoreCase))
{
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.AbbDefineTool(
args[1],
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture),
Convert.ToDouble(args[12], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
else if (args[0].Equals("abbAttachTool", StringComparison.CurrentCultureIgnoreCase))
{
if (bot.Brand == RobotType.ABB)
{
try
{
return(bot.AbbAttachTool(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
}
// ███████╗██╗ ██╗██╗███████╗████████╗██╗███╗ ██╗ ██████╗
// ██╔════╝╚██╗██╔╝██║██╔════╝╚══██╔══╝██║████╗ ██║██╔════╝
// █████╗ ╚███╔╝ ██║███████╗ ██║ ██║██╔██╗ ██║██║ ███╗
// ██╔══╝ ██╔██╗ ██║╚════██║ ██║ ██║██║╚██╗██║██║ ██║
// ███████╗██╔╝ ██╗██║███████║ ██║ ██║██║ ╚████║╚██████╔╝
// ╚══════╝╚═╝ ╚═╝╚═╝╚══════╝ ╚═╝ ╚═╝╚═╝ ╚═══╝ ╚═════╝
// This is horrible, but oh well...
if (args[0].Equals("MotionMode", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.MotionMode(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Speed", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Speed(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("SpeedTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.SpeedTo(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Acceleration", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Acceleration(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("AccelerationTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AccelerationTo(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Precision", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Precision(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("PrecisionTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.PrecisionTo(Convert.ToDouble(args[1], CultureInfo.InvariantCulture)));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Coordinates", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("Temperature", StringComparison.CurrentCultureIgnoreCase) || args[0].Equals("TemperatureTo", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("ExtrusionRate", StringComparison.CurrentCultureIgnoreCase) || args[0].Equals("ExtrusionRateTo", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("PushSettings", StringComparison.CurrentCultureIgnoreCase))
{
bot.PushSettings();
return(true);
}
else if (args[0].Equals("PopSettings", StringComparison.CurrentCultureIgnoreCase))
{
bot.PopSettings();
return(true);
}
else if (args[0].Equals("Move", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Move(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("MoveTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.MoveTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Rotate", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Rotate(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("RotateTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.RotateTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Transform", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is still not implemented.");
return(false);
}
else if (args[0].Equals("TransformTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.TransformTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Axes", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Axes(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("AxesTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AxesTo(
Convert.ToDouble(args[1], CultureInfo.InvariantCulture),
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ExternalAxis", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int axisNumber;
try
{
axisNumber = Convert.ToInt32(args[1]);
if (axisNumber < 1 || axisNumber > 6)
{
Logger.Error($"Axis number must be between 1 and 6");
return(false);
}
}
catch
{
Logger.Error($"Axis number must be an integer");
return(false);
}
double increment;
try
{
increment = Convert.ToDouble(args[2], CultureInfo.InvariantCulture);
}
catch
{
Logger.Error($"Invalid increment value " + args[2]);
return(false);
}
string target = "All";
if (args.Length > 3)
{
target = args[3];
}
return(bot.ExternalAxis(axisNumber, increment, target));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ExternalAxisTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int axisNumber;
try
{
axisNumber = Convert.ToInt32(args[1]);
if (axisNumber < 1 || axisNumber > 6)
{
Logger.Error($"Axis number must be between 1 and 6");
return(false);
}
}
catch
{
Logger.Error($"Axis number must be an integer");
return(false);
}
double val;
try
{
val = Convert.ToDouble(args[2], CultureInfo.InvariantCulture);
}
catch
{
Logger.Error($"Invalid value " + args[2]);
return(false);
}
string target = "All";
if (args.Length > 3)
{
target = args[3];
}
return(bot.ExternalAxisTo(axisNumber, val, target));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("ArmAngle", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error("Relative `ArmAngle` is temporarily disabled, please use the absolute `ArmAngleTo` version instead.");
return(false);
//Logger.Warning(
//"Relative `ArmAngle` is temporarily disabled, please use the absolute `ArmAngleTo` version instead.");
}
else if (args[0].Equals("ArmAngleTo", StringComparison.CurrentCultureIgnoreCase))
{
try
{
double val;
try
{
val = Convert.ToDouble(args[1], CultureInfo.InvariantCulture);
}
catch
{
Logger.Error($"Invalid value " + args[1]);
return(false);
}
//double val;
//if (!Double.TryParse(args[1], out val))
//{
// Logger.Error($"Invalid value " + args[1]);
// return false;
//}
return(bot.ArmAngleTo(val));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Wait", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Wait(Convert.ToInt32(args[1])));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Message", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.Message(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Comment", StringComparison.CurrentCultureIgnoreCase))
{
// Do nothing here, just go through with it.
return(true);
}
else if (args[0].Equals("CustomCode", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Warning("\"CustomCode\" can lead to unexpected results, use with caution and only if you REALLY know what you are doing.");
try
{
string statement = args[1];
bool dec = false;
if (args.Length > 2)
{
dec = bool.Parse(args[2]); // if not good, throw and explain
}
return(bot.CustomCode(statement, dec));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
}
return(false);
}
else if (args[0].Equals("new Tool", StringComparison.CurrentCultureIgnoreCase) ||
args[0].Equals("Tool.Create", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is deprecated, please update your client and use \"DefineTool\" instead. Action will have no effect.");
return(false);
}
else if (args[0].Equals("DefineTool", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.DefineTool(
args[1],
Convert.ToDouble(args[2], CultureInfo.InvariantCulture),
Convert.ToDouble(args[3], CultureInfo.InvariantCulture),
Convert.ToDouble(args[4], CultureInfo.InvariantCulture),
Convert.ToDouble(args[5], CultureInfo.InvariantCulture),
Convert.ToDouble(args[6], CultureInfo.InvariantCulture),
Convert.ToDouble(args[7], CultureInfo.InvariantCulture),
Convert.ToDouble(args[8], CultureInfo.InvariantCulture),
Convert.ToDouble(args[9], CultureInfo.InvariantCulture),
Convert.ToDouble(args[10], CultureInfo.InvariantCulture),
Convert.ToDouble(args[11], CultureInfo.InvariantCulture),
Convert.ToDouble(args[12], CultureInfo.InvariantCulture),
Convert.ToDouble(args[13], CultureInfo.InvariantCulture),
Convert.ToDouble(args[14], CultureInfo.InvariantCulture)
));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Attach", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Error($"\"{args[0]}\" is deprecated, please update your client and use \"AttachTool\" instead. Action will have no effect.");
return(false);
}
else if (args[0].Equals("AttachTool", StringComparison.CurrentCultureIgnoreCase))
{
try
{
return(bot.AttachTool(args[1]));
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Detach", StringComparison.CurrentCultureIgnoreCase))
{
bot.Logger.Warning($"\"{args[0]}\" is deprecated, please update your client and use \"DetachTool\" instead.");
return(bot.DetachTool());
}
else if (args[0].Equals("DetachTool", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.DetachTool());
}
else if (args[0].Equals("WriteDigital", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int count = args.Length;
int pin = 0;
bool digitalPin = Int32.TryParse(args[1], out pin);
// Numeric pins
if (digitalPin)
{
switch (count)
{
case 3: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2], CultureInfo.InvariantCulture)));
case 4: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2], CultureInfo.InvariantCulture), Convert.ToBoolean(args[3])));
}
}
// Named pins (ABB)
else
{
switch (count)
{
case 3: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2], CultureInfo.InvariantCulture)));
case 4: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2], CultureInfo.InvariantCulture), Convert.ToBoolean(args[3])));
}
}
// If here, something went wrong...
// why is this hear and not a call to BadFormatInstruction?
Machina.Logger.Error($"Badly formatted instruction: \"{instruction}\"");
return(false);
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("WriteAnalog", StringComparison.CurrentCultureIgnoreCase))
{
try
{
int count = args.Length;
int pin = 0;
bool digitalPin = Int32.TryParse(args[1], out pin);
if (digitalPin)
{
switch (count)
{
case 3: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2])));
case 4: return(bot.WriteAnalog(pin, Convert.ToDouble(args[2]), Convert.ToBoolean(args[3])));
}
}
else
{
switch (count)
{
case 3: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2])));
case 4: return(bot.WriteAnalog(args[1], Convert.ToDouble(args[2]), Convert.ToBoolean(args[3])));
}
}
// If here, something went wrong...
Machina.Logger.Error($"Badly formatted instruction: \"{instruction}\"");
return(false);
}
catch (Exception ex)
{
BadFormatInstruction(instruction, ex);
return(false);
}
}
else if (args[0].Equals("Extrude", StringComparison.CurrentCultureIgnoreCase))
{
return(bot.Extrude());
}
// If here, instruction is not available or something went wrong...
Machina.Logger.Error($"I don't understand \"{instruction}\"...");
return(false);
}
private void Wscl_OnError(object sender, WebSocketSharp.ErrorEventArgs e)
{
Logger.Error("Error on WS client connection: " + e.Message);
}
/// <summary>
/// Initialize WebSocket communication infrastructure
/// </summary>
/// <returns></returns>
private bool InitializeWebSocketServer()
{
// Close previous instances, if applicable
if (wssv != null && wssv.IsListening)
{
StopWebSocketServer();
}
if (wscl != null && wscl.IsAlive)
{
StopWebSocketClient();
}
wsURL = txtbox_WSServerURL.Text;
_authkey = psswrdbox_Key.Password;
// Check if given URL is a valid Machina Server
try
{
Logger.Verbose("Trying connection to Machina Server on " + wsURL);
// Add relevant auth info as query parameters
string fullURL = $"{wsURL}?name={_robotName}&client=machina-bridge&authkey={_authkey}";
// Establish connection
wscl = new WebSocket(fullURL);
wscl.OnOpen += Wscl_OnOpen;
wscl.OnMessage += Wscl_OnMessage;
wscl.OnClose += Wscl_OnClose;
wscl.OnError += Wscl_OnError;
wscl.Connect();
//wscl.Send("hello from Bridge");
if (wscl.IsAlive)
{
Logger.Info("Successful connection to Machina Remote Server on " + wsURL);
}
else
{
throw new Exception();
}
}
catch
{
Logger.Verbose("Could not connect to existing Machina Server, initializing locally...");
// Check validity of URL
if (!ParseWebSocketURL())
{
Logger.Error("Invalid WebSocket URL \"" + txtbox_WSServerURL.Text + "\"; try something like \"ws://127.0.0.1/Bridge\"");
return(false);
}
wssv = new WebSocketServer(wsURL);
wssv.AddWebSocketService(wssvBehavior, () => new WSServerBehavior(bot, this));
// @TODO: add a check here if the port is in use, and try a different port instead
try
{
wssv.Start();
}
catch
{
Logger.Error("Default websocket server is not available, please enter a new one manually...");
return(false);
}
if (wssv.IsListening)
{
//Machina.Logger.Info($"Listening on port {wssv.Port}, and providing WebSocket services:");
//foreach (var path in wssv.WebSocketServices.Paths) Machina.Logger.Info($"- {path}");
Logger.Verbose("Successful initialization of Machina Local Server on " + wsURL);
Logger.Info("Waiting for incoming connections on Machina Local Server " + (wsURL + wssvBehavior));
}
}
return(true);
//lbl_ServerURL.Content = wssvURL + wssvBehavior;
}
protected override void OnError(WebSocketSharp.ErrorEventArgs e)
{
//base.OnError(e);
//Console.WriteLine(" BRIDGE ERROR: " + e.Message);
Logger.Error("WS error: " + e.Message);
}
private void Wscl_OnClose(object sender, CloseEventArgs e)
{
Logger.Debug("Closed WS client connection: " + e.Code + " " + e.Reason);
}