public override async Task ReceiveAsync(WebSocket socket, WebSocketReceiveResult result, byte[] buffer)
{
var socketid = WebSocketObjectHolder.GetId(socket);
var message = $"{socketid} said: {Encoding.UTF8.GetString(buffer, 0, result.Count)}";
await SendMessageToAllAsync(message, AppConst.NON_BOM_UTF8_ENCORDING);
}
public override async Task ReceiveAsync(WebSocket socket, WebSocketReceiveResult result, byte[] buffer)
{
var socketid = WebSocketObjectHolder.GetId(socket);
var message = AppConst.NON_BOM_UTF8_ENCORDING.GetString(buffer, 0, result.Count);
await Task.CompletedTask; // Todo: コマンド受信処理
}
public override async Task OnDisconnected(WebSocket socket)
{
var socketId = WebSocketObjectHolder.GetId(socket);
await base.OnDisconnected(socket);
await SendMessageToAllAsync($"{socketId} disconnected", AppConst.NON_BOM_UTF8_ENCORDING);
}
public override async Task OnConnected(WebSocket socket)
{
await base.OnConnected(socket);
var socketid = WebSocketObjectHolder.GetId(socket);
Console.WriteLine($"socket created: {socketid}");
await Task.CompletedTask;
//await SendMessageToAllAsync($"{socketid} is now connected", AppConst.NON_BOM_UTF8_ENCORDING);
}
public override async Task OnDisconnected(WebSocket client)
{
var socketId = WebSocketObjectHolder.GetId(client);
await base.OnDisconnected(client);
Console.WriteLine($"socket closed: {socketId}");
await Task.CompletedTask;
//await SendMessageToAllAsync($"{socketId} disconnected", AppConst.NON_BOM_UTF8_ENCORDING);
}
public override async Task ReceiveAsync(WebSocket socket, WebSocketReceiveResult result, byte[] buffer)
{
var socketid = WebSocketObjectHolder.GetId(socket);
var message = AppConst.NON_BOM_UTF8_ENCORDING.GetString(buffer, 0, result.Count);
if (message.Length > 0)
{
try
{
var request = JsonConvert.DeserializeObject <WebSocketRequest>(message);
Console.WriteLine(request.Cmd);
Console.WriteLine(request.Args);
switch (request.Cmd)
{
case (WebSocketCommands.SENSOR_RESET):
sensorCount = 0;
break;
case (WebSocketCommands.LOG_START):
LogStart();
break;
case (WebSocketCommands.LOG_STOP):
LogStopAndSave(request.Args.ToString());
break;
default:
break;
}
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
//await socket.SendAsync(AppConst.NON_BOM_UTF8_ENCORDING.GetBytes(e.ToString()), WebSocketMessageType.Text, true, CancellationToken.None);
}
}
await Task.CompletedTask; // Todo: コマンド受信処理
}
public override async Task OnDisconnected(WebSocket socket)
{
var socketId = WebSocketObjectHolder.GetId(socket);
await base.OnDisconnected(socket);
Console.WriteLine($"socket closed: {socketId}");
if (WebSocketObjectHolder.Count <= 0)
{
StopLoggingTimer();
StopSendTimer();
Thread.Sleep(100);
this.forceSensor.DisConnect();
this.cfdLogger.DisConnect();
}
await Task.CompletedTask;
}
// WebSocket 関連イベント
public override async Task OnConnected(WebSocket socket)
{
await base.OnConnected(socket);
if (!cfdLogger.IsLogging)
{
cfdLogger.Connect(settings.CfdIP, settings.CfdPort);
}
if (!forceSensor.IsConnecting)
{
forceSensor.Connect();
}
StartSendTimer();
var socketid = WebSocketObjectHolder.GetId(socket);
Console.WriteLine($"socket created: {socketid}");
await Task.CompletedTask;
}
public override async Task OnConnected(WebSocket client)
{
await base.OnConnected(client);
var socketid = WebSocketObjectHolder.GetId(client);
Console.WriteLine($"socket created: {socketid}");
if (this.watchLoop == null)
{
this.watchLoop = Task.Run(async() =>
{
Connect();
isStop = false;
while (!isStop)
{
this.socket.Send(this.sendMessage);
int receiveLength = socket.Receive(this.resBuffer);
flexData resData = null;
using (var ms = new System.IO.MemoryStream())
{
try
{
var length = ParseHeader(this.resBuffer, 0);
System.Diagnostics.Debug.WriteLine(length);
// ms.Write(res, 8, receiveLength - 8);
ms.Write(this.resBuffer, 8, length);
ms.Position = 0;
//Console.WriteLine(Encoding.UTF8.GetString(ms.GetBuffer()));
resData = (flexData)serializer.Deserialize(ms);
if (resData.notifications != null)
{
resData.notifications.ToList().ForEach(n =>
{
Console.Error.WriteLine($"{n.code}: {n.message}");
});
Thread.Sleep(1000);
continue;
}
var updateData = resData.dataExchange.dataUpdate[0].data[0].r;
await infoSemaphore.WaitAsync();
try
{
this.robotInfo.Tcp.X = (float)updateData[0];
this.robotInfo.Tcp.Y = (float)updateData[1];
this.robotInfo.Tcp.Z = (float)updateData[2];
this.robotInfo.Tcp.Role = (float)updateData[3];
this.robotInfo.Tcp.Pitch = (float)updateData[4];
this.robotInfo.Tcp.Yaw = (float)updateData[5];
}
finally
{
infoSemaphore.Release();
}
Thread.Sleep(5);
}
catch (System.Exception err)
{
Console.WriteLine(err.ToString());
Thread.Sleep(5000);
throw;
}
finally
{
ms.Dispose();
}
}
}
});
}
Thread.Sleep(100);
if (sendLoop == null)
{
this.sendLoop = Task.Run(async() =>
{
isStop = false;
string str = null;
while (!isStop)
{
await infoSemaphore.WaitAsync();
try
{
str = JsonConvert.SerializeObject(this.robotInfo);
}
finally
{
infoSemaphore.Release();
}
//Console.WriteLine(str);
await SendMessageToAllAsync(str, AppConst.NON_BOM_UTF8_ENCORDING);
Thread.Sleep(10);
}
});
}
await Task.CompletedTask;
}
