private void UpdateSensorValueList(EdbotServerMessage edbotMessage)
{
if (!HasEdbots(edbotMessage))
{
return;
}
foreach (KeyValuePair <string, Edbot> entry in edbotMessage.Edbots)
{
if (!EdbotSensorValues.ContainsKey(entry.Key))
{
EdbotSensorValues.Add(entry.Key, new Dictionary <string, int>());
}
Reporters reporters = entry.Value.Reporters;
if (reporters != null)
{
UpdateSensorPort(EdbotSensorValues[entry.Key], "Port1", reporters.Port1);
UpdateSensorPort(EdbotSensorValues[entry.Key], "Port2", reporters.Port2);
UpdateSensorPort(EdbotSensorValues[entry.Key], "Port3", reporters.Port3);
UpdateSensorPort(EdbotSensorValues[entry.Key], "Port4", reporters.Port4);
ListedSensors?.Invoke(this, EventArgs.Empty);
}
}
}
private void UpdateAuth(EdbotServerMessage edbotMessage)
{
if (edbotMessage.Auth != null)
{
Auth = edbotMessage.Auth;
}
}
public void DeserializeInitialMessage()
{
string jsonMessage = "{\"edbots\":{\"Robotis Mini\":{\"connected\":true,\"reporters\":{\"servo-02\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":151.9,\"extended\":null},\"servo-13\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":131.4,\"extended\":null},\"servo-03\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":68.0,\"extended\":null},\"servo-14\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":149.9,\"extended\":null},\"servo-11\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":144.6,\"extended\":null},\"servo-01\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":141.9,\"extended\":null},\"servo-12\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":145.7,\"extended\":null},\"servo-10\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":117.6,\"extended\":null},\"motion-complete\":0,\"servo-08\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":142.2,\"extended\":null},\"servo-09\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":182.4,\"extended\":null},\"port3\":1021,\"servo-06\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":142.5,\"extended\":null},\"port4\":296,\"servo-07\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":148.7,\"extended\":null},\"port1\":462,\"servo-04\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":244.0,\"extended\":null},\"servo-15\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":146.6,\"extended\":null},\"port2\":319,\"servo-05\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":157.2,\"extended\":null},\"servo-16\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":137.5,\"extended\":null},\"speech-complete\":0,\"busy\":[]},\"activeUser\":\"Scratch <Somebody@[192.168.56.1]:0>\",\"motions\":{\"All\":[{\"name\":\"backward roll\",\"id\":24},{\"name\":\"bow 1\",\"id\":5},{\"name\":\"bow 2\",\"id\":6},{\"name\":\"break dance\",\"id\":40},{\"name\":\"break dance flip\",\"id\":41},{\"name\":\"crouch\",\"id\":3},{\"name\":\"forward roll\",\"id\":21},{\"name\":\"gangnam\",\"id\":42},{\"name\":\"get up\",\"id\":2},{\"name\":\"goalie block\",\"id\":34},{\"name\":\"goalie left\",\"id\":35},{\"name\":\"goalie right\",\"id\":36},{\"name\":\"goalie spread\",\"id\":37},{\"name\":\"head stand\",\"id\":38},{\"name\":\"initial position\",\"id\":1},{\"name\":\"karate left 1\",\"id\":25},{\"name\":\"karate left 2\",\"id\":27},{\"name\":\"karate right 1\",\"id\":26},{\"name\":\"karate right 2\",\"id\":28},{\"name\":\"left hook\",\"id\":11},{\"name\":\"left jab\",\"id\":10},{\"name\":\"left kick\",\"id\":30},{\"name\":\"left side kick\",\"id\":32},{\"name\":\"left uppercut\",\"id\":12},{\"name\":\"left wave\",\"id\":14},{\"name\":\"push\",\"id\":29},{\"name\":\"push up\",\"id\":23},{\"name\":\"right hook\",\"id\":8},{\"name\":\"right jab\",\"id\":7},{\"name\":\"right kick\",\"id\":31},{\"name\":\"right side kick\",\"id\":33},{\"name\":\"right uppercut\",\"id\":9},{\"name\":\"right wave\",\"id\":13},{\"name\":\"run forwards\",\"id\":39},{\"name\":\"sidestep left\",\"id\":18},{\"name\":\"sidestep right\",\"id\":17},{\"name\":\"sit up\",\"id\":22},{\"name\":\"stand\",\"id\":4},{\"name\":\"turn left\",\"id\":16},{\"name\":\"turn right\",\"id\":15},{\"name\":\"walk backwards\",\"id\":20},{\"name\":\"walk forwards\",\"id\":19}],\"Basic\":[{\"name\":\"crouch\",\"id\":3},{\"name\":\"get up\",\"id\":2},{\"name\":\"initial position\",\"id\":1},{\"name\":\"run forwards\",\"id\":39},{\"name\":\"sidestep left\",\"id\":18},{\"name\":\"sidestep right\",\"id\":17},{\"name\":\"stand\",\"id\":4},{\"name\":\"turn left\",\"id\":16},{\"name\":\"turn right\",\"id\":15},{\"name\":\"walk backwards\",\"id\":20},{\"name\":\"walk forwards\",\"id\":19}],\"Sport\":[{\"name\":\"goalie block\",\"id\":34},{\"name\":\"goalie left\",\"id\":35},{\"name\":\"goalie right\",\"id\":36},{\"name\":\"goalie spread\",\"id\":37},{\"name\":\"left kick\",\"id\":30},{\"name\":\"left side kick\",\"id\":32},{\"name\":\"right kick\",\"id\":31},{\"name\":\"right side kick\",\"id\":33}],\"Greet\":[{\"name\":\"bow 1\",\"id\":5},{\"name\":\"bow 2\",\"id\":6},{\"name\":\"left wave\",\"id\":14},{\"name\":\"right wave\",\"id\":13}],\"Dance\":[{\"name\":\"break dance\",\"id\":40},{\"name\":\"break dance flip\",\"id\":41},{\"name\":\"gangnam\",\"id\":42}],\"Gym\":[{\"name\":\"backward roll\",\"id\":24},{\"name\":\"forward roll\",\"id\":21},{\"name\":\"head stand\",\"id\":38},{\"name\":\"push up\",\"id\":23},{\"name\":\"sit up\",\"id\":22}],\"Fight\":[{\"name\":\"karate left 1\",\"id\":25},{\"name\":\"karate left 2\",\"id\":27},{\"name\":\"karate right 1\",\"id\":26},{\"name\":\"karate right 2\",\"id\":28},{\"name\":\"left hook\",\"id\":11},{\"name\":\"left jab\",\"id\":10},{\"name\":\"left uppercut\",\"id\":12},{\"name\":\"push\",\"id\":29},{\"name\":\"right hook\",\"id\":8},{\"name\":\"right jab\",\"id\":7},{\"name\":\"right uppercut\",\"id\":9}]},\"type\":\"ERM161\",\"enabled\":true,\"colours\":{\"red\":1,\"magenta\":5,\"green\":2,\"blue\":4,\"white\":7,\"yellow\":3,\"cyan\":6,\"off\":0}}},\"auth\":\"67002ddb-d0ff-41bf-8d91-05f2670d9cd8\",\"user\":\"CSharp <User@[192.168.56.1]:54998>\"}";
EdbotServerMessage edbotMessage = JsonConvert.DeserializeObject <EdbotServerMessage>(jsonMessage, jsonSettings);
Assert.IsNotNull(edbotMessage);
Assert.AreEqual("67002ddb-d0ff-41bf-8d91-05f2670d9cd8", edbotMessage.Auth);
Assert.AreEqual("CSharp <User@[192.168.56.1]:54998>", edbotMessage.User);
Assert.IsNotNull(edbotMessage.Edbots);
Assert.AreEqual(1, edbotMessage.Edbots.Count);
Assert.AreEqual("Robotis Mini", edbotMessage.Edbots.First().Key);
Edbot edbot = edbotMessage.Edbots.First().Value;
Assert.IsTrue(edbot.Connected);
Assert.AreEqual("Scratch <Somebody@[192.168.56.1]:0>", edbot.ActiveUser);
Assert.IsNotNull(edbot.Colours);
Assert.AreEqual(4, edbot.Colours.Blue);
Assert.AreEqual(6, edbot.Colours.Cyan);
Assert.AreEqual(2, edbot.Colours.Green);
Assert.AreEqual(5, edbot.Colours.Magenta);
Assert.AreEqual(0, edbot.Colours.Off);
Assert.AreEqual(1, edbot.Colours.Red);
Assert.AreEqual(7, edbot.Colours.White);
Assert.AreEqual(3, edbot.Colours.Yellow);
}
private void UpdateConnectedEdBotNamesList(EdbotServerMessage edbotMessage)
{
if (!HasEdbots(edbotMessage))
{
return;
}
//show only connected and enabled edbots
Dictionary <string, Edbot> edbots = edbotMessage.Edbots.ToDictionary(k => k.Key, v => v.Value);
ConnectedEdbotNames = ConnectedEdbotNames.Union(edbots.Keys.ToList()).ToList();
ListedEdbots?.Invoke(this, EventArgs.Empty);
}
private void UpdateMotionsList(EdbotServerMessage edbotMessage)
{
if (!HasEdbots(edbotMessage))
{
return;
}
Motions possibleMotions = edbotMessage.Edbots.First().Value.Motions;
if (possibleMotions != null && possibleMotions.All != null)
{
Dictionary <string, int> allMotions = new Dictionary <string, int>();
foreach (Motion motion in possibleMotions.All)
{
allMotions.Add(motion.Name, motion.Id);
}
EdbotMotions = EdbotMotions.Union(allMotions).ToDictionary(k => k.Key, v => v.Value);
ListedMotions?.Invoke(this, EventArgs.Empty);
}
}
private void UpdateServoColourList(EdbotServerMessage edbotMessage)
{
if (!HasEdbots(edbotMessage))
{
return;
}
Colours possibleColours = edbotMessage.Edbots.First().Value.Colours;
if (possibleColours != null)
{
EdbotServoColours.Add("Blue", possibleColours.Blue);
EdbotServoColours.Add("Cyan", possibleColours.Cyan);
EdbotServoColours.Add("Green", possibleColours.Green);
EdbotServoColours.Add("Magenta", possibleColours.Magenta);
EdbotServoColours.Add("Off", possibleColours.Off);
EdbotServoColours.Add("Red", possibleColours.Red);
EdbotServoColours.Add("White", possibleColours.White);
EdbotServoColours.Add("Yellow", possibleColours.Yellow);
ListedServoColours?.Invoke(this, EventArgs.Empty);
}
}
/// <summary>
/// Called when a message is received from the Edbot server
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnWebClientMessage(object sender, MessageEventArgs e)
{
//"{\"edbots\":{\"Robotis Mini\":{\"connected\":true,\"reporters\":{\"servo-02\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":151.9,\"extended\":null},\"servo-13\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":131.4,\"extended\":null},\"servo-03\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":68.0,\"extended\":null},\"servo-14\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":149.9,\"extended\":null},\"servo-11\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":144.6,\"extended\":null},\"servo-01\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":141.9,\"extended\":null},\"servo-12\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":145.7,\"extended\":null},\"servo-10\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":117.6,\"extended\":null},\"motion-complete\":0,\"servo-08\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":142.2,\"extended\":null},\"servo-09\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":182.4,\"extended\":null},\"port3\":1021,\"servo-06\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":142.5,\"extended\":null},\"port4\":296,\"servo-07\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":148.7,\"extended\":null},\"port1\":462,\"servo-04\":{\"aligning\":false,\"load\":0.0,\"torque\":false,\"position\":244.0,\"extended\":null},\"servo-15\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":146.6,\"extended\":null},\"port2\":319,\"servo-05\":{\"aligning\":false,\"load\":-0.8,\"torque\":false,\"position\":157.2,\"extended\":null},\"servo-16\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":137.5,\"extended\":null},\"speech-complete\":0,\"busy\":[]},\"activeUser\":\"Scratch <Doefus@[192.168.56.1]:0>\",\"motions\":{\"All\":[{\"name\":\"backward roll\",\"id\":24},{\"name\":\"bow 1\",\"id\":5},{\"name\":\"bow 2\",\"id\":6},{\"name\":\"break dance\",\"id\":40},{\"name\":\"break dance flip\",\"id\":41},{\"name\":\"crouch\",\"id\":3},{\"name\":\"forward roll\",\"id\":21},{\"name\":\"gangnam\",\"id\":42},{\"name\":\"get up\",\"id\":2},{\"name\":\"goalie block\",\"id\":34},{\"name\":\"goalie left\",\"id\":35},{\"name\":\"goalie right\",\"id\":36},{\"name\":\"goalie spread\",\"id\":37},{\"name\":\"head stand\",\"id\":38},{\"name\":\"initial position\",\"id\":1},{\"name\":\"karate left 1\",\"id\":25},{\"name\":\"karate left 2\",\"id\":27},{\"name\":\"karate right 1\",\"id\":26},{\"name\":\"karate right 2\",\"id\":28},{\"name\":\"left hook\",\"id\":11},{\"name\":\"left jab\",\"id\":10},{\"name\":\"left kick\",\"id\":30},{\"name\":\"left side kick\",\"id\":32},{\"name\":\"left uppercut\",\"id\":12},{\"name\":\"left wave\",\"id\":14},{\"name\":\"push\",\"id\":29},{\"name\":\"push up\",\"id\":23},{\"name\":\"right hook\",\"id\":8},{\"name\":\"right jab\",\"id\":7},{\"name\":\"right kick\",\"id\":31},{\"name\":\"right side kick\",\"id\":33},{\"name\":\"right uppercut\",\"id\":9},{\"name\":\"right wave\",\"id\":13},{\"name\":\"run forwards\",\"id\":39},{\"name\":\"sidestep left\",\"id\":18},{\"name\":\"sidestep right\",\"id\":17},{\"name\":\"sit up\",\"id\":22},{\"name\":\"stand\",\"id\":4},{\"name\":\"turn left\",\"id\":16},{\"name\":\"turn right\",\"id\":15},{\"name\":\"walk backwards\",\"id\":20},{\"name\":\"walk forwards\",\"id\":19}],\"Basic\":[{\"name\":\"crouch\",\"id\":3},{\"name\":\"get up\",\"id\":2},{\"name\":\"initial position\",\"id\":1},{\"name\":\"run forwards\",\"id\":39},{\"name\":\"sidestep left\",\"id\":18},{\"name\":\"sidestep right\",\"id\":17},{\"name\":\"stand\",\"id\":4},{\"name\":\"turn left\",\"id\":16},{\"name\":\"turn right\",\"id\":15},{\"name\":\"walk backwards\",\"id\":20},{\"name\":\"walk forwards\",\"id\":19}],\"Sport\":[{\"name\":\"goalie block\",\"id\":34},{\"name\":\"goalie left\",\"id\":35},{\"name\":\"goalie right\",\"id\":36},{\"name\":\"goalie spread\",\"id\":37},{\"name\":\"left kick\",\"id\":30},{\"name\":\"left side kick\",\"id\":32},{\"name\":\"right kick\",\"id\":31},{\"name\":\"right side kick\",\"id\":33}],\"Greet\":[{\"name\":\"bow 1\",\"id\":5},{\"name\":\"bow 2\",\"id\":6},{\"name\":\"left wave\",\"id\":14},{\"name\":\"right wave\",\"id\":13}],\"Dance\":[{\"name\":\"break dance\",\"id\":40},{\"name\":\"break dance flip\",\"id\":41},{\"name\":\"gangnam\",\"id\":42}],\"Gym\":[{\"name\":\"backward roll\",\"id\":24},{\"name\":\"forward roll\",\"id\":21},{\"name\":\"head stand\",\"id\":38},{\"name\":\"push up\",\"id\":23},{\"name\":\"sit up\",\"id\":22}],\"Fight\":[{\"name\":\"karate left 1\",\"id\":25},{\"name\":\"karate left 2\",\"id\":27},{\"name\":\"karate right 1\",\"id\":26},{\"name\":\"karate right 2\",\"id\":28},{\"name\":\"left hook\",\"id\":11},{\"name\":\"left jab\",\"id\":10},{\"name\":\"left uppercut\",\"id\":12},{\"name\":\"push\",\"id\":29},{\"name\":\"right hook\",\"id\":8},{\"name\":\"right jab\",\"id\":7},{\"name\":\"right uppercut\",\"id\":9}]},\"type\":\"ERM161\",\"enabled\":true,\"colours\":{\"red\":1,\"magenta\":5,\"green\":2,\"blue\":4,\"white\":7,\"yellow\":3,\"cyan\":6,\"off\":0}}},\"auth\":\"67002ddb-d0ff-41bf-8d91-05f2670d9cd8\",\"user\":\"CSharp <User@[192.168.56.1]:54998>\"}"
//"{\"users\":[\"CSharp <User@[192.168.56.1]:50548>\",\"Scratch <Doefus@[192.168.56.1]:0>\"]}"
//"{\"edbots\":{\"Robotis Mini\":{\"reporters\":{\"servo-02\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":151.9,\"extended\":null}}}}}"
//"{\"edbots\":{\"Robotis Mini\":{\"reporters\":{\"servo-03\":{\"aligning\":false,\"load\":0.8,\"torque\":false,\"position\":68.0,\"extended\":null}}}}}"
try
{
EdbotServerMessage edbotMessage = JsonConvert.DeserializeObject <EdbotServerMessage>(e.Data, jsonSettings);
if (edbotMessage == null)
{
return;
}
UpdateAuth(edbotMessage);
UpdateConnectedEdBotNamesList(edbotMessage);
UpdateMotionsList(edbotMessage);
UpdateServoColourList(edbotMessage);
UpdateSensorValueList(edbotMessage);
}
catch (Exception ex)
{
logger.Debug(ex);
}
}
private bool HasEdbots(EdbotServerMessage edbotMessage)
{
return(edbotMessage.Edbots != null && edbotMessage.Edbots.Count > 0);
}