private void removeTagButton_Click(object sender, EventArgs e)
{
TaggerEventArgs args = new TaggerEventArgs();
if (chatTable.SelectedObjects != null)
{
foreach (var obj in chatTable.SelectedObjects)
{
DynamicMessage dyn = obj as DynamicMessage;
args.messages = new List <int>();
args.messages.Add(dyn.Id);
if (dyn.Situations.Count == 1)
{
args.Tag = dyn.Situations.FirstOrDefault().Key;
args.Id = dyn.Situations.FirstOrDefault().Value;
RemoveTag?.Invoke(this, args);
}
if (dyn.Situations.Count > 1)
{
//todo
}
//MessageContainer.Messages[dyn.Id].Situations.Clear();
}
}
}
internal string OnTagValueGetter(OLVColumn cl, object o, string key)
{
//I mean shouldnt this work with AspectName instead lmao
if (cl.Name != "Tag")
{
DynamicMessage message = (DynamicMessage)o;
return(message.Contents[key].ToString());
}
else
{
if (o != null)
{
DynamicMessage m = (DynamicMessage)o;
if (m.Situations != null)
{
return(String.Join(",", m.Situations.ToArray()));
}
else
{
return("");
}
}
else
{
return("");
}
}
}
private void addTagButton_Click(object sender, EventArgs e)
{
if (tagsetView.SelectedItems.Count != 0 && chatTable.SelectedObjects.Count != 0)
{
TaggerEventArgs args = new TaggerEventArgs();
args.Id = IndexEngine.SituationIndex.TagsetCounter[tagsetView.SelectedItems[0].Text];
args.Tag = tagsetView.SelectedItems[0].Text;
args.messages = new List <int>();
foreach (var obj in chatTable.SelectedObjects)
{
DynamicMessage msg = (DynamicMessage)obj;
args.messages.Add(msg.Id);
}
AddTag?.Invoke(this, args);
//fastSituationView.Items.Add(args.Tag + " " + args.Id);
chatTable.UpdateObjects(MessageContainer.Messages.FindAll(x => args.messages.Contains(x.Id)));
}
else
{
MessageBox.Show("Select a tag and messages first");
}
}
public void TestDynamicMessage()
{
const string definition =
"uint32 seq\n" +
"time stamp\n" +
"string frame_id";
DynamicMessage message =
DynamicMessage.CreateFromDependencyString("iviz_test/Header", definition);
Assert.True(message.Fields.Count == 3);
Assert.True(message.Fields[0].TrySet((uint)1));
Assert.False(message.Fields[0].TrySet(0)); // int, not uint
Assert.False(message.Fields[0].TrySet("a"));
time now = new time(DateTime.Now);
Assert.True(message.Fields[1].TrySet(now));
Assert.False(message.Fields[1].TrySet("a"));
Assert.True(message.Fields[2].TrySet("map"));
Assert.False(message.Fields[2].TrySet(0));
var realHeader = new Header(1, now, "map");
Assert.True(message.RosInstanceMd5Sum == Header.RosMd5Sum);
Assert.True(message.RosMessageLength == realHeader.RosMessageLength);
byte[] messageBytes = message.SerializeToArray();
byte[] otherMessageBytes = realHeader.SerializeToArray();
Assert.True(messageBytes.SequenceEqual(otherMessageBytes));
}
/// <summary>
/// </summary>
/// <param name="message">
/// </param>
public void Send(MessageBase message)
{
var temp = new DynamicMessage();
temp.DataObject = message;
this.Send(temp);
}
public bool Send(DynamicMessage request)
{
var hubContext = GlobalHost.ConnectionManager.GetHubContext <MessageHub>();
hubContext.Clients.Users(request.UserIds.Select(p => p.ToString()).ToList()).broadcastMessage(request.DynamicShowArea);
return(true);
}
/// <summary>
/// </summary>
/// <param name="client">
/// </param>
/// <param name="messageObject">
/// </param>
internal void ISComDataReceived(IClient client, DynamicMessage messageObject)
{
if (messageObject.DataObject is VicinityChatMessage)
{
this.DistributeVicinityChat((VicinityChatMessage)messageObject.DataObject);
}
}
/// <summary>
/// </summary>
/// <param name="messageobject">
/// </param>
internal void ProcessISComMessage(DynamicMessage messageobject)
{
// Switch to handlers
if (messageobject.DataObject is ChatCommand)
{
this.HandleChatCommand((ChatCommand)messageobject.DataObject);
}
}
/// <summary>
/// </summary>
/// <param name="client">
/// </param>
/// <param name="messageObject">
/// </param>
internal void ISComDataReceived(object sender, DynamicMessage messageObject)
{
var message = messageObject.DataObject as VicinityChatMessage;
if (message != null)
{
this.DistributeVicinityChat(message);
}
}
private void FastObjectListView1_FormatRow(object sender, FormatRowEventArgs e)
{
DynamicMessage dyn = (DynamicMessage)e.Item.RowObject;
if (Hits.Contains(dyn.Id))
{
e.Item.BackColor = Color.Pink;
}
}
/// <summary>
/// </summary>
/// <param name="client">
/// </param>
/// <param name="dataBytes">
/// </param>
private void ISComV2ServerDataReceived(object sender, OnDataReceivedArgs e)
{
if (this.DataReceived != null)
{
MessagePackSerializer <DynamicMessage> serializer = MessagePackSerializer.Create <DynamicMessage>();
DynamicMessage result = serializer.UnpackSingleObject(e.dataBytes);
this.DataReceived(sender, result);
}
}
/// <summary>
/// </summary>
/// <param name="client">
/// </param>
/// <param name="dataBytes">
/// </param>
private void ISComV2ServerDataReceived(ISComV2ClientHandler client, byte[] dataBytes)
{
if (this.DataReceived != null)
{
MessagePackSerializer <DynamicMessage> serializer = MessagePackSerializer.Create <DynamicMessage>();
DynamicMessage result = serializer.UnpackSingleObject(dataBytes);
this.DataReceived(client, result);
}
}
public void TestDynamicMessageWrongDefinition()
{
const string wrongDefinition =
"float seq #no float type!\n" +
"time stamp \n" +
"string frame_id \n";
Assert.Catch <MessageDependencyException>(() =>
DynamicMessage.CreateFromDependencyString("iviz_test/Header", wrongDefinition));
}
/// <summary>
/// </summary>
/// <param name="dataBytes">
/// </param>
private void clientBase_ReceivedData(byte[] dataBytes)
{
MessagePackSerializer <DynamicMessage> serializer = MessagePackSerializer.Create <DynamicMessage>();
DynamicMessage tmp = serializer.UnpackSingleObject(dataBytes);
// Is the handler set?
if (this.OnReceiveData != null)
{
this.OnReceiveData(tmp);
}
}
/// <summary>
/// </summary>
/// <param name="dataBytes">
/// </param>
private void ClientBaseReceivedData(object sender, OnDataReceivedArgs e)
{
MessagePackSerializer <DynamicMessage> serializer = MessagePackSerializer.Create <DynamicMessage>();
DynamicMessage tmp = serializer.UnpackSingleObject(e.dataBytes);
// Is the handler set?
if (this.OnReceiveData != null)
{
this.OnReceiveData(this, tmp);
}
}
/// <summary>
/// </summary>
/// <param name="dataObject">
/// </param>
public void Send(DynamicMessage dataObject)
{
MessagePackSerializer <object> serializer = MessagePackSerializer.Create <object>();
byte[] data = serializer.PackSingleObject(dataObject);
byte[] header = new byte[8];
BitConverter.GetBytes(0x00ff55aa).CopyTo(header, 0);
BitConverter.GetBytes(data.Length).CopyTo(header, 4);
this.Send(header);
this.Send(data);
}
/// <summary>
/// </summary>
/// <param name="dataObject">
/// </param>
public void Send(DynamicMessage dataObject)
{
MessagePackSerializer <object> serializer = MessagePackSerializer.Create <object>();
byte[] data = serializer.PackSingleObject(dataObject);
byte[] finalData = new byte[8 + data.Length];
BitConverter.GetBytes(0x00ff55aa).CopyTo(finalData, 0);
BitConverter.GetBytes(data.Length).CopyTo(finalData, 4);
Array.Copy(data, 0, finalData, 8, data.Length);
this.clientBase.Send(finalData);
}
public TopicInfo(string callerId, string topic, DynamicMessage generator)
: this(
generator.RosInstanceDependencies ??
throw new NullReferenceException("Dynamic message has not been initialized"),
callerId, topic,
generator.RosInstanceMd5Sum ??
throw new NullReferenceException("Dynamic message has not been initialized"),
generator.RosType,
generator as IDeserializable <T> ??
throw new InvalidOperationException("Type T needs to be DynamicMessage"))
{
}
private void ChatTable_FormatRow(object sender, FormatRowEventArgs e)
{
DynamicMessage dyn = (DynamicMessage)e.Item.RowObject;
if (TagsetColors != null)
{
if (dyn.Situations.Count != 0)
{
e.Item.BackColor = TagsetColors[dyn.Situations.Keys.ToList <string>()[0]];
}
}
}
public bool Filter(object modelObject)
{
if (modelObject is DynamicMessage)
{
DynamicMessage d = (DynamicMessage)modelObject;
if (d.Situations.Count != 0)
{
return(true);
}
return(false);
}
return(false);
}
public Task SendToTopic(CancellationToken cancellationToken)
{
var uspsMessage = new DynamicMessage
{
OrderId = "1www",
PrintDate = DateTimeOffset.Now,
TrackingInfo = Guid.NewGuid().ToString()
};
var topic = _producers.First(x => x.Named == ServiceBusNames.TopicSubscriptions);
// specify label/ subject
return(topic.SendMessageAsync(uspsMessage));
}
/// <summary>
/// The received object.
/// </summary>
/// <param name="result">
/// The result.
/// </param>
private void ReceivedObject(IAsyncResult result)
{
this.stream.EndRead(result);
var buffer = result.AsyncState as byte[];
if (buffer != null)
{
BaseMessage bm = DynamicMessage.Unpack(buffer);
EventHandler <ReceivedObjectEventArgs> handler = this.ObjectReceived;
if (handler != null)
{
handler(this, new ReceivedObjectEventArgs(bm));
}
}
}
/// <summary>
/// </summary>
/// <param name="client">
/// </param>
/// <param name="messageObject">
/// </param>
internal void ISComDataReceived(object sender, DynamicMessage messageObject)
{
var message = messageObject.DataObject as VicinityChatMessage;
if (message != null)
{
this.DistributeVicinityChat(message);
}
var requestPlayfieldList = messageObject.DataObject as RequestPlayfieldList;
if (requestPlayfieldList != null)
{
this.PushRequestPlayfieldListReply(requestPlayfieldList);
}
}
/// <summary>
/// </summary>
/// <param name="messageobject">
/// </param>
internal void ProcessISComMessage(DynamicMessage messageobject)
{
// Switch to handlers
var chatCommand = messageobject.DataObject as ChatCommand;
if (chatCommand != null)
{
this.HandleChatCommand(chatCommand);
}
var requestPlayfieldList = messageobject.DataObject as RequestPlayfieldList;
if (requestPlayfieldList != null)
{
this.HandleRequestPlayfieldList(requestPlayfieldList);
}
}
public List <DynamicMessage> MakeSearchResultsReadable()
{
List <DynamicMessage> searchResults = new List <DynamicMessage>();
for (int i = 0; i < Hits.TotalHits; i++)
{
List <string> data = new List <string>();
ScoreDoc d = Hits.ScoreDocs[i];
Document idoc = LuceneService.Searcher.Doc(d.Doc);
foreach (var field in ProjectInfo.Data.SelectedFields)
{
data.Add(idoc.GetField(field).GetStringValue());
}
DynamicMessage message = new DynamicMessage(data, ProjectInfo.Data.SelectedFields, ProjectInfo.DateFieldKey,
idoc.GetField("id").GetInt32Value().Value);
searchResults.Add(message);
}
return(searchResults);
}
public void TestDynamicMessageWithDependencies()
{
const string fullDependencies = @"
Header header
string child_frame_id # the frame id of the child frame
geometry_msgs/Transform transform
================================================================================
MSG: std_msgs/Header
uint32 seq
time stamp
string frame_id
================================================================================
MSG: geometry_msgs/Transform
Vector3 translation
Quaternion rotation
================================================================================
MSG: geometry_msgs/Vector3
float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/Quaternion
float64 x
float64 y
float64 z
float64 w
";
DynamicMessage message =
DynamicMessage.CreateFromDependencyString("iviz_test/TransformStamped", fullDependencies);
var realTransformStamped = new TransformStamped();
Assert.True(message.RosInstanceMd5Sum == TransformStamped.RosMd5Sum);
Assert.True(message.RosMessageLength == realTransformStamped.RosMessageLength);
byte[] messageBytes = message.SerializeToArray();
byte[] otherMessageBytes = realTransformStamped.SerializeToArray();
Assert.True(messageBytes.SequenceEqual(otherMessageBytes));
}
private void SetUpChatView()
{
List <OLVColumn> columns = new List <OLVColumn>();
foreach (var key in ProjectInfo.Data.SelectedFields)
{
OLVColumn cl = new OLVColumn();
cl.AspectGetter = delegate(object x)
{
DynamicMessage message = (DynamicMessage)x;
return(message.Contents[key]);
};
cl.Text = key;
cl.WordWrap = true;
columns.Add(cl);
}
suggesterView.AllColumns.Clear();
suggesterView.AllColumns.AddRange(columns);
foreach (var cl in suggesterView.AllColumns)
{
if (cl.Text != ProjectInfo.TextFieldKey)
{
cl.AutoResize(ColumnHeaderAutoResizeStyle.ColumnContent);
}
else
{
cl.FillsFreeSpace = true;
}
}
suggesterView.RebuildColumns();
suggesterView.Refresh();
}
/// <summary>
/// </summary>
/// <param name="messageobject">
/// </param>
private static void ISComClientOnReceiveData(object sender, DynamicMessage messageobject)
{
zoneServer.ProcessISComMessage(messageobject);
}
/// <summary>
/// The send.
/// </summary>
/// <param name="messageData">
/// The message data.
/// </param>
public void Send(BaseMessage messageData)
{
this.Send(DynamicMessage.Pack(messageData));
}
/// <summary>
/// 重新加载配置
/// </summary>
/// <returns>返回是否加载成功</returns>
public bool Reload()
{
Clear();
try {
var header_desc = factory.GetMsgDiscriptor("com.owent.xresloader.pb.xresloader_datablocks");
if (null == header_desc)
{
ExcelConfigManager.LastError = string.Format("load configure file {0} failed, com.owent.xresloader.pb.xresloader_datablocks not registered", fileName);
return(false);
}
var msg_desc = factory.GetMsgDiscriptor(protocol);
if (null == msg_desc)
{
ExcelConfigManager.LastError = string.Format("load configure file {0} failed, {1} not registered", fileName, protocol);
return(false);
}
DynamicMessage data_set = factory.Decode(header_desc, ExcelConfigManager.GetFileStream(fileName));
if (null == data_set)
{
ExcelConfigManager.LastError = string.Format("load configure file {0} failed, {1}", fileName, factory.LastError);
return(false);
}
foreach (var cfg_item in data_set.GetFieldList("data_block"))
{
DynamicMessage data_item = factory.Decode(msg_desc, new MemoryStream((byte[])cfg_item));
if (null == data_item)
{
ExcelConfigManager.LastError = string.Format("load configure file {0} failed, {1}", fileName, factory.LastError);
continue;
}
bool filter_pass = true;
foreach (var fn in filters)
{
filter_pass = fn(data_item);
if (!filter_pass)
{
break;
}
}
if (!filter_pass)
{
continue;
}
datas.Add(data_item);
foreach (var index in kvIndex)
{
if (null != index.Handle)
{
Key key = index.Handle(data_item);
index.Index[key] = data_item;
}
}
foreach (var index in klIndex)
{
if (null != index.Handle)
{
List <DynamicMessage> ls;
Key key = index.Handle(data_item);
if (index.Index.TryGetValue(key, out ls))
{
ls.Add(data_item);
}
else
{
index.Index[key] = new List <DynamicMessage> {
data_item
};
}
}
}
}
foreach (var index in klIndex)
{
if (null != index.SortRule)
{
foreach (var ls in index.Index)
{
ls.Value.Sort(index.SortRule);
}
}
}
} catch (Exception e) {
ExcelConfigManager.LastError = string.Format("{0}", e.Message);
return(false);
}
return(true);
}
