Osc.cs

﻿using UnityEngine;
using System.Threading;
using System.Text;
using System.Collections;
using System.IO;
using System; 

/// \mainpage
/// \section Overview
/// The .NET Visual C# library for the Make Controller Kit is designed 
/// to make it as simple as possible for developers to integrate the 
/// Make Controller Kit into their desktop applications, offering the 
/// transparency that makes open source software so rewarding to work with.  
/// You can communicate with the Make Controller Kit from your applications 
/// over either an Ethernet or USB connection, or both.  This library is 
/// supplied both in source form and built, as MakeControllerOsc.dll
/// This document is a reference for MakeControllerOsc.
/// 
/// \section Communication
/// Messages to and from the board conform to the OSC (Open Sound Control) protocol.  
/// OSC is an open, transport-independent standard supported by an increasing 
/// number of environments and devices. 
/// 
/// \subsection OSCmessages OSC Messages
/// OSC messages are represented by the class OscMessage, and consist of two elements:
/// - An address string for the device on the board you韗e dealing with.
/// - A list of value(s) being sent to or from that device. The list of values is optional.
/// 
/// From the perspective of OSC addresses, the Make Controller Kit is organized into a hierarchy of two or three layers:
/// - subsystems ?classes of device, such as analog inputs, servo controllers, and digital outputs.
/// - devices ?the index of a specific device within a subsystem.  
/// If there is only one device in a subsystem, the device is not included in the OSC address.
/// - properties ?different devices have different properties, such as the value of an analog input, 
/// the position of a servo motor, or the state of an LED. 
/// 
/// OSC messages always begin with a slash, and use a slash to delimit each element in the address, 
/// so an example OSC address string would look like:
/// \code /subsystem/device/property \endcode
/// 
/// The second part of an OscMessage is a list of values to be sent to the specified address. 
/// The OSC types that are used by the Make Controller Kit for these values are integers, 
/// floats, and strings.  The values in this list are simply separated by spaces, and the 
/// list can be arbitrarily long.  Most devices on the Make Controller Kit expect only one value.  
/// For example, to set the position of servo 1, you might send a message which 
/// in string form might look like:
/// \code /servo/1/position 512 \endcode
/// 
/// This addressing scheme allows interactions with the board's various subsystems 
/// and properties, and most importantly, accommodates the possibility of future or 
/// custom devices on the board that have not yet been implemented or imagined.  
/// If somebody creates, for example, a GPS extension to the board, communicating 
/// with that device from this library is the same as for any other.  More details 
/// about OSC can be found at http://www.opensoundcontrol.org.
/// 
/// \section sendingdata Sending Data
/// As previously mentioned, the Make Controller Kit can communicate over both 
/// Ethernet and USB.  Messages are sent as packets, both over USB and UDP, and 
/// corresponding structures are used ?UsbPacket and UdpPacket.  Once you韛e created 
/// a packet, you can simply call its Send() method, with the OscMessage you韉 like to send.  
/// There are helper methods to create an OscMessage from a string, or you can pass in the OscMessage itself. 
/// 
/// For example, you might set up your UsbSend() routine to look something like:
/// \code public void usbSend(string text)
/// {
///     OscMessage oscM = Osc.StringToOscMessage(text);
///     oscUsb is an Osc object, connected to a UsbPacket object 
///     oscUsb.Send(oscM);
/// } \endcode
/// If your data is already in the form of an OscMessage, you can call oscUsb.Send() directly.
/// 
/// \section readingdata Reading Data
/// The Make Controller Kit must be polled in order to read data from it.  To do this, 
/// send an OscMessage with the address of the device you韉 like to read, but omit 
/// the list of values.  When the board receives an OscMessage with no value, 
/// it interprets that as a read request, and sends back an OscMessage with the 
/// current value at the appropriate address.
/// 
/// The .NET Make Controller Kit library conveniently provides handlers that will 
/// call back a given function when an OscMessage with a given address string is received.  
/// Your implementation could look something like:
/// \code// Set the handler in the constructor for a particular address
/// MyConstructor()
/// {
///     udpPacket = new UdpPacket();
///     oscUdp = new Osc(udpPacket);
///     // A thread is started when the Osc object is created to read 
///     // incoming messages.
///     oscUdp.SetAddressHandler("/analogin/0/value", Ain0Message);
/// }
///
/// // The method you specified as the handler will be called back when a 
/// // message with a matching address string comes back from the board.
/// public void AIn0Message(OscMessage oscMessage)
/// {
///     // write the message to a console, for example
///     mct.WriteLine("AIn0 > " + Osc.OscMessageToString(oscMessage));
/// } \endcode
/// You could alternatively set a handler for all incoming messages by calling 
/// the SetAllMessageHandler() method in your setup, instead of SetAddressHandler().
/// 
/// 


//namespace MakingThings
//{
/// <summary>
/// The OscMessage class is a data structure that represents
/// an OSC address and an arbitrary number of values to be sent to that address.
/// </summary>
public class OscMessage
{
	/// <summary>
	/// The OSC address of the message as a string.
	/// </summary>
	public string Address;
	/// <summary>
	/// The list of values to be delivered to the Address.
	/// </summary>
	public ArrayList Values;
	public OscMessage()
	{
		Values = new ArrayList();
	}
}

public delegate void OscMessageHandler( OscMessage oscM );

/// <summary>
/// The Osc class provides the methods required to send, receive, and manipulate OSC messages.
/// Several of the helper methods are static since a running Osc instance is not required for 
/// their use.
/// 
/// When instanciated, the Osc class opens the PacketIO instance that's handed to it and 
/// begins to run a reader thread.  The instance is then ready to service Send OscMessage requests 
/// and to start supplying OscMessages as received back.
/// 
/// The Osc class can be called to Send either individual messages or collections of messages
/// in an Osc Bundle.  Receiving is done by delegate.  There are two ways: either submit a method
/// to receive all incoming messages or submit a method to handle only one particular address.
/// 
/// Messages can be encoded and decoded from Strings via the static methods on this class, or
/// can be hand assembled / disassembled since they're just a string (the address) and a list 
/// of other parameters in Object form. 
/// 
/// </summary>
public class Osc : MonoBehaviour
{

	/// <summary>
	/// Osc Constructor.  Starts the Reader thread and initializes some internal state.
	/// </summary>
	/// <param name="oscPacketIO">The PacketIO instance used for packet IO.</param>
	/*
    public Osc(PacketIO oscPacketIO)
    {
      // Save the PacketExchage pointer
      OscPacketIO = oscPacketIO;

      // Create the hashtable for the address lookup mechanism
      AddressTable = new Hashtable();

      ReadThread = new Thread(Read);
      ReaderRunning = true;
      ReadThread.IsBackground = true;
      ReadThread.Start();
    }
	*/


	void Start() {
		//do nothing, init must be called	
	}

	public void init(UDPPacketIO oscPacketIO){
		OscPacketIO = oscPacketIO;

		// Create the hashtable for the address lookup mechanism
		AddressTable = new Hashtable();

		ReadThread = new Thread(Read);
		ReaderRunning = true;
		ReadThread.IsBackground = true;
		ReadThread.Start();		
	}

	/// <summary>
	/// Make sure the PacketExchange is closed.
	/// </summary>
	~Osc()
	{
		//Cancel();
	}

	void OnDisable()
	{
		Debug.Log("OnDisable");
		Cancel();
	}

	public void Cancel()
	{
		ReaderRunning = false;
		ReadThread.Abort();
		if (OscPacketIO.IsOpen())
			OscPacketIO.Close();
	}

	/// <summary>
	/// Read Thread.  Loops waiting for packets.  When a packet is received, it is 
	/// dispatched to any waiting All Message Handler.  Also, the address is looked up and
	/// any matching handler is called.
	/// </summary>
	private void Read()
	{
		while (ReaderRunning)
		{
			Debug.Log("Read");
			byte[] buffer = new byte[1000];
			int length = OscPacketIO.ReceivePacket(buffer);
			if (length > 0)
			{
				ArrayList messages = Osc.PacketToOscMessages(buffer, length);
				foreach (OscMessage om in messages)
				{
					if (AllMessageHandler != null)
						AllMessageHandler(om);
					OscMessageHandler h = (OscMessageHandler)Hashtable.Synchronized(AddressTable)[om.Address];
					if (h != null)
						h(om);
					
				}
			}
			else
				Thread.Sleep(500);
		}
	}

	/// <summary>
	/// Send an individual OSC message.  Internally takes the OscMessage object and 
	/// serializes it into a byte[] suitable for sending to the PacketIO.
	/// </summary>
	/// <param name="oscMessage">The OSC Message to send.</param>   
	public void Send( OscMessage oscMessage )
	{
		byte[] packet = new byte[1000];
		int length = Osc.OscMessageToPacket( oscMessage, packet, 1000 );
		OscPacketIO.SendPacket( packet, length);
	}

	/// <summary>
	/// Sends a list of OSC Messages.  Internally takes the OscMessage objects and 
	/// serializes them into a byte[] suitable for sending to the PacketExchange.
	/// </summary>
	/// <param name="oms">The OSC Message to send.</param>   
	public void Send(ArrayList oms)
	{
		byte[] packet = new byte[1000];
		int length = Osc.OscMessagesToPacket(oms, packet, 1000);
		OscPacketIO.SendPacket(packet, length);
	}

	/// <summary>
	/// Set the method to call back on when any message is received.
	/// The method needs to have the OscMessageHandler signature - i.e. void amh( OscMessage oscM )
	/// </summary>
	/// <param name="amh">The method to call back on.</param>   
	public void SetAllMessageHandler(OscMessageHandler amh)
	{
		AllMessageHandler = amh;
	}

	/// <summary>
	/// Set the method to call back on when a message with the specified
	/// address is received.  The method needs to have the OscMessageHandler signature - i.e. 
	/// void amh( OscMessage oscM )
	/// </summary>
	/// <param name="key">Address string to be matched</param>   
	/// <param name="ah">The method to call back on.</param>   
	public void SetAddressHandler(string key, OscMessageHandler ah)
	{
		Hashtable.Synchronized(AddressTable).Add(key, ah);
	}

	private UDPPacketIO OscPacketIO;
	Thread ReadThread;
	private bool ReaderRunning; 
	private OscMessageHandler AllMessageHandler;
	Hashtable AddressTable;

	/// <summary>
	/// General static helper that returns a string suitable for printing representing the supplied 
	/// OscMessage.
	/// </summary>
	/// <param name="message">The OscMessage to be stringified.</param>
	/// <returns>The OscMessage as a string.</returns>
	public static string OscMessageToString(OscMessage message)
	{
		StringBuilder s = new StringBuilder();
		s.Append(message.Address);
		foreach( object o in message.Values )
		{
			s.Append(" ");
			s.Append(o.ToString());
		}
		return s.ToString();
	}

	/// <summary>
	/// Creates an OscMessage from a string - extracts the address and determines each of the values. 
	/// </summary>
	/// <param name="message">The string to be turned into an OscMessage</param>
	/// <returns>The OscMessage.</returns>
	public static OscMessage StringToOscMessage(string message)
	{
		OscMessage oM = new OscMessage();
		// Console.WriteLine("Splitting " + message);
		string[] ss = message.Split(new char[] { ' ' });
		IEnumerator sE = ss.GetEnumerator();
		if (sE.MoveNext())
			oM.Address = (string)sE.Current;
		while ( sE.MoveNext() )
		{
			string s = (string)sE.Current;
			// Console.WriteLine("  <" + s + ">");
			if (s.StartsWith("\""))
			{
				StringBuilder quoted = new StringBuilder();
				bool looped = false;
				if (s.Length > 1)
					quoted.Append(s.Substring(1));
				else
					looped = true;
				while (sE.MoveNext())
				{
					string a = (string)sE.Current;
					// Console.WriteLine("    q:<" + a + ">");
					if (looped)
						quoted.Append(" ");
					if (a.EndsWith("\""))
					{
						quoted.Append(a.Substring(0, a.Length - 1));
						break;
					}
					else
					{
						if (a.Length == 0)
							quoted.Append(" ");
						else
							quoted.Append(a);
					}
					looped = true;
				}
				oM.Values.Add(quoted.ToString());
			}
			else
			{
				if (s.Length > 0)
				{
					try
					{
						int i = int.Parse(s);
						// Console.WriteLine("  i:" + i);
						oM.Values.Add(i);
					}
					catch
					{
						try
						{
							float f = float.Parse(s);
							// Console.WriteLine("  f:" + f);
							oM.Values.Add(f);
						}
						catch
						{
							// Console.WriteLine("  s:" + s);
							oM.Values.Add(s);
						}
					}

				}
			}
		}
		return oM;
	}

	/// <summary>
	/// Takes a packet (byte[]) and turns it into a list of OscMessages.
	/// </summary>
	/// <param name="packet">The packet to be parsed.</param>
	/// <param name="length">The length of the packet.</param>
	/// <returns>An ArrayList of OscMessages.</returns>
	public static ArrayList PacketToOscMessages(byte[] packet, int length)
	{
		ArrayList messages = new ArrayList();
		ExtractMessages(messages, packet, 0, length);
		return messages;
	}

	/// <summary>
	/// Puts an array of OscMessages into a packet (byte[]).
	/// </summary>
	/// <param name="messages">An ArrayList of OscMessages.</param>
	/// <param name="packet">An array of bytes to be populated with the OscMessages.</param>
	/// <param name="length">The size of the array of bytes.</param>
	/// <returns>The length of the packet</returns>
	public static int OscMessagesToPacket(ArrayList messages, byte[] packet, int length)
	{
		int index = 0;
		if (messages.Count == 1)
			index = OscMessageToPacket((OscMessage)messages[0], packet, 0, length);
		else
		{
			// Write the first bundle bit
			index = InsertString("#bundle", packet, index, length);
			// Write a null timestamp (another 8bytes)
			int c = 8;
			while (( c-- )>0)
				packet[index++]++;
			// Now, put each message preceded by it's length
			foreach (OscMessage oscM in messages)
			{
				int lengthIndex = index;
				index += 4;
				int packetStart = index;
				index = OscMessageToPacket(oscM, packet, index, length);
				int packetSize = index - packetStart;
				packet[lengthIndex++] = (byte)((packetSize >> 24) & 0xFF);
				packet[lengthIndex++] = (byte)((packetSize >> 16) & 0xFF);
				packet[lengthIndex++] = (byte)((packetSize >> 8) & 0xFF);
				packet[lengthIndex++] = (byte)((packetSize) & 0xFF);
			}
		}
		return index;
	}

	/// <summary>
	/// Creates a packet (an array of bytes) from a single OscMessage.
	/// </summary>
	/// <remarks>A convenience method, not requiring a start index.</remarks>
	/// <param name="oscM">The OscMessage to be returned as a packet.</param>
	/// <param name="packet">The packet to be populated with the OscMessage.</param>
	/// <param name="length">The usable size of the array of bytes.</param>
	/// <returns>The length of the packet</returns>
	public static int OscMessageToPacket(OscMessage oscM, byte[] packet, int length)
	{
		return OscMessageToPacket(oscM, packet, 0, length);
	}

	/// <summary>
	/// Creates an array of bytes from a single OscMessage.  Used internally.
	/// </summary>
	/// <remarks>Can specify where in the array of bytes the OscMessage should be put.</remarks>
	/// <param name="oscM">The OscMessage to be turned into an array of bytes.</param>
	/// <param name="packet">The array of bytes to be populated with the OscMessage.</param>
	/// <param name="start">The start index in the packet where the OscMessage should be put.</param>
	/// <param name="length">The length of the array of bytes.</param>
	/// <returns>The index into the packet after the last OscMessage.</returns>
	private static int OscMessageToPacket(OscMessage oscM, byte[] packet, int start, int length)
	{
		int index = start;
		index = InsertString(oscM.Address, packet, index, length);
		//if (oscM.Values.Count > 0)
		{
			StringBuilder tag = new StringBuilder();
			tag.Append(",");
			int tagIndex = index;
			index += PadSize(2 + oscM.Values.Count);

			foreach (object o in oscM.Values)
			{
				if (o is int)
				{
					int i = (int)o;
					tag.Append("i");
					packet[index++] = (byte)((i >> 24) & 0xFF);
					packet[index++] = (byte)((i >> 16) & 0xFF);
					packet[index++] = (byte)((i >> 8) & 0xFF);
					packet[index++] = (byte)((i) & 0xFF);
				}
				else
				{
					if (o is float)
					{
						float f = (float)o;
						tag.Append("f");
						byte[] buffer = new byte[4];
						MemoryStream ms = new MemoryStream(buffer);
						BinaryWriter bw = new BinaryWriter(ms);
						bw.Write(f);
						packet[index++] = buffer[3];
						packet[index++] = buffer[2];
						packet[index++] = buffer[1];
						packet[index++] = buffer[0];
					}
					else
					{
						if (o is string)
						{
							tag.Append("s");
							index = InsertString(o.ToString(), packet, index, length);
						}
						else
						{
							tag.Append("?");
						}
					}
				}
			}
			InsertString(tag.ToString(), packet, tagIndex, length);
		}
		return index;
	}

	/// <summary>
	/// Receive a raw packet of bytes and extract OscMessages from it.  Used internally.
	/// </summary>
	/// <remarks>The packet may contain a OSC message or a bundle of messages.</remarks>
	/// <param name="messages">An ArrayList to be populated with the OscMessages.</param>
	/// <param name="packet">The packet of bytes to be parsed.</param>
	/// <param name="start">The index of where to start looking in the packet.</param>
	/// <param name="length">The length of the packet.</param>
	/// <returns>The index after the last OscMessage read.</returns>
	private static int ExtractMessages(ArrayList messages, byte[] packet, int start, int length)
	{
		int index = start;
		switch ( (char)packet[ start ] )
		{
		case '/':
			index = ExtractMessage( messages, packet, index, length );
			break;
		case '#':
			string bundleString = ExtractString(packet, start, length);
			if ( bundleString == "#bundle" )
			{
				// skip the "bundle" and the timestamp
				index+=16;
				while ( index < length )
				{
					int messageSize = ( packet[index++] << 24 ) + ( packet[index++] << 16 ) + ( packet[index++] << 8 ) + packet[index++];
					/*int newIndex = */ExtractMessages( messages, packet, index, length ); 
					index += messageSize;
				}            
			}
			break;
		}
		return index;
	}

	/// <summary>
	/// Extracts a messages from a packet.
	/// </summary>
	/// <param name="messages">An ArrayList to be populated with the OscMessage.</param>
	/// <param name="packet">The packet of bytes to be parsed.</param>
	/// <param name="start">The index of where to start looking in the packet.</param>
	/// <param name="length">The length of the packet.</param>
	/// <returns>The index after the OscMessage is read.</returns>
	private static int ExtractMessage(ArrayList messages, byte[] packet, int start, int length)
	{
		OscMessage oscM = new OscMessage();
		oscM.Address = ExtractString(packet, start, length);


		int index = start + PadSize(oscM.Address.Length+1);
		string typeTag = ExtractString(packet, index, length);
		index += PadSize(typeTag.Length + 1);
		oscM.Values.Add(typeTag);
		foreach (char c in typeTag)
		{
			switch (c)
			{
			case ',':
				break;
			case 's':
				{
					string s = ExtractString(packet, index, length);
					index += PadSize(s.Length + 1);
					oscM.Values.Add(s);
					Debug.Log (s);
					break;
				}
			case 'i':
				{
					int i = ( packet[index++] << 24 ) + ( packet[index++] << 16 ) + ( packet[index++] << 8 ) + packet[index++];
					oscM.Values.Add(i);
					break;
				}
			case 'f':
				{
					byte[] buffer = new byte[4];
					buffer[3] = packet[index++];
					buffer[2] = packet[index++];
					buffer[1] = packet[index++];
					buffer[0] = packet[index++];
					MemoryStream ms = new MemoryStream(buffer);
					BinaryReader br = new BinaryReader(ms);
					float f = br.ReadSingle();
					oscM.Values.Add(f);
					break;
				}
			}
		}
		messages.Add( oscM );
		//Debug.Log (oscM.Values);
		return index;
	}

	/// <summary>
	/// Removes a string from a packet.  Used internally.
	/// </summary>
	/// <param name="packet">The packet of bytes to be parsed.</param>
	/// <param name="start">The index of where to start looking in the packet.</param>
	/// <param name="length">The length of the packet.</param>
	/// <returns>The string</returns>
	private static string ExtractString(byte[] packet, int start, int length)
	{
		StringBuilder sb = new StringBuilder();
		int index = start;
		while (packet[index] != 0 && index < length)
			sb.Append((char)packet[index++]);
		return sb.ToString();
	}

	private static string Dump(byte[] packet, int start, int length)
	{
		StringBuilder sb = new StringBuilder();
		int index = start;
		while (index < length)
			sb.Append(packet[index++]+"|");
		return sb.ToString();
	}

	/// <summary>
	/// Inserts a string, correctly padded into a packet.  Used internally.
	/// </summary>
	/// <param name="string">The string to be inserted</param>
	/// <param name="packet">The packet of bytes to be parsed.</param>
	/// <param name="start">The index of where to start looking in the packet.</param>
	/// <param name="length">The length of the packet.</param>
	/// <returns>An index to the next byte in the packet after the padded string.</returns>
	private static int InsertString(string s, byte[] packet, int start, int length)
	{
		int index = start;
		foreach (char c in s)
		{
			packet[index++] = (byte)c;
			if (index == length)
				return index;
		}
		packet[index++] = 0;
		int pad = (s.Length+1) % 4;
		if (pad != 0)
		{
			pad = 4 - pad;
			while (pad-- > 0)
				packet[index++] = 0;
		}
		return index;
	}

	/// <summary>
	/// Takes a length and returns what it would be if padded to the nearest 4 bytes.
	/// </summary>
	/// <param name="rawSize">Original size</param>
	/// <returns>padded size</returns>
	private static int PadSize(int rawSize)
	{
		int pad = rawSize % 4;
		if (pad == 0)
			return rawSize;
		else
			return rawSize + (4 - pad);
	}
}
//}