// ███████╗██╗ ██╗███████╗███╗ ██╗████████╗███████╗
// ██╔════╝██║ ██║██╔════╝████╗ ██║╚══██╔══╝██╔════╝
// █████╗ ██║ ██║█████╗ ██╔██╗ ██║ ██║ ███████╗
// ██╔══╝ ╚██╗ ██╔╝██╔══╝ ██║╚██╗██║ ██║ ╚════██║
// ███████╗ ╚████╔╝ ███████╗██║ ╚████║ ██║ ███████║
// ╚══════╝ ╚═══╝ ╚══════╝╚═╝ ╚═══╝ ╚═╝ ╚══════╝
//
internal void RaiseActionCompletedEvent()
{
Action lastAction = this.motionCursor.GetLastAction();
int pedingWrite = this.writeCursor.ActionsPendingCount();
int pendingBuffer = this.motionCursor.ActionsPendingCount();
ActionCompletedArgs e = new ActionCompletedArgs(lastAction, pedingWrite + pendingBuffer, pendingBuffer);
this.parentRobot.OnActionCompleted(e);
}
/// <summary>
/// Parse the response and decide what to do with it.
/// </summary>
/// <param name="res"></param>
private void ParseResponse(string res)
{
// If first char is an id marker (otherwise, we can't know which action it is)
// @TODO: this is hardcoded for ABB, do this programmatically...
if (res[0] == ABBCommunicationProtocol.STR_MESSAGE_ID_CHAR)
{
// @TODO: dd some sanity here for incorrectly formatted messages
_responseChunks = res.Split(' ');
string idStr = _responseChunks[0].Substring(1);
int id = Convert.ToInt32(idStr);
this._motionCursor.ApplyActionsUntilId(id);
//Console.WriteLine(_motionCursor);
this._parentDriver.parentControl.parentRobot.OnMotionCursorUpdated(EventArgs.Empty);
Action lastAction = this._motionCursor.lastAction;
int remaining = this._motionCursor.ActionsPending();
ActionCompletedArgs e = new ActionCompletedArgs(lastAction, remaining);
this._parentDriver.parentControl.parentRobot.OnActionCompleted(e);
}
}
///// <summary>
///// Parse the response and decide what to do with it. Returns true if the message was understood.
///// </summary>
///// <param name="res"></param>
//private bool ProcessResponse(string res)
//{
// // If first char is an id marker (otherwise, we can't know which action it is)
// // @TODO: this is hardcoded for ABB, do this programmatically...
// if (res[0] == URCommunicationProtocol.STR_MESSAGE_ID_CHAR)
// {
// // @TODO: dd some sanity here for incorrectly formatted messages
// _responseChunks = res.Split(' ');
// string idStr = _responseChunks[0].Substring(1);
// int id = Convert.ToInt32(idStr);
// _receivedIDs.Add(id);
// this._motionCursor.ApplyActionsUntilId(id);
// //Console.WriteLine(_motionCursor);
// this._parentDriver.parentControl.parentRobot.OnMotionCursorUpdated(EventArgs.Empty);
// Action lastAction = this._motionCursor.lastAction;
// int remaining = this._motionCursor.ActionsPending();
// ActionCompletedArgs e = new ActionCompletedArgs(lastAction, remaining);
// this._parentDriver.parentControl.parentRobot.OnActionCompleted(e);
// return true;
// }
// return false;
//}
private bool ProcessResponse(int id)
{
// Some messages actually contain several instructions (like a pop call may).
// In this case, ids are -1 except for the last instruction, that contains the right id.
// If an id is below 1, just ignore it.
if (id < 1)
{
return(false);
}
_receivedIDs.Add(id);
this._motionCursor.ApplyActionsUntilId(id);
//Console.WriteLine(_motionCursor);
this._parentDriver.parentControl.parentRobot.OnMotionCursorUpdated(EventArgs.Empty);
Action lastAction = this._motionCursor.lastAction;
int remaining = this._motionCursor.ActionsPending();
ActionCompletedArgs e = new ActionCompletedArgs(lastAction, remaining);
this._parentDriver.parentControl.parentRobot.OnActionCompleted(e);
return(true);
}
public static void OnActionCompleted(object sender, ActionCompletedArgs e)
{
wssv.WebSocketServices.Broadcast($"{{\"msg\":\"action-completed\",\"data\":[{e.RemainingActions}]}}");
}
