private static void DecodeKaiConnected(JObject input)
{
var kaiID = input[Constants.KaiID].ToObject <int>();
var hand = input[Constants.Hand]?.ToObject <string>(); // will not be optional in future
var defaultKai = input[Constants.DefaultKai]?.ToObject <bool>();
var defaultLeftKai = input[Constants.DefaultLeftKai]?.ToObject <bool>();
var defaultRightKai = input[Constants.DefaultRightKai]?.ToObject <bool>();
var kaiSerialNumber = input[Constants.KaiSerialNumber]?.ToObject <bool>(); // will not be optional in future
//var kaiParsed = KaiObjectParsed.Parse(input);
if (!Enum.TryParse(hand, true, out Hand handEnum))
{
handEnum = Hand.Left;
}
if (defaultKai == true)
{
DefaultKai.KaiID = kaiID;
DefaultKai.Hand = handEnum;
}
if (defaultLeftKai == true)
{
DefaultLeftKai.KaiID = kaiID;
DefaultLeftKai.Hand = Hand.Left;
}
if (defaultRightKai == true)
{
DefaultRightKai.KaiID = kaiID;
DefaultRightKai.Hand = Hand.Right;
}
connectedKais[kaiID] = new Kai
{
KaiID = kaiID,
Hand = handEnum
};
if (defaultKai == true || defaultLeftKai == true || defaultRightKai == true)
{
ResetDefaultCapabilities();
}
}
/// <summary>
/// Unset the Kai's capabilities and subscribes to that data
/// </summary>
/// <param name="capabilities">The capabilities to set the Kai to</param>
/// <param name="kai">The kai to set the capabilities to</param>
public static void UnsetCapabilities(Kai kai, KaiCapabilities capabilities)
{
kai.Capabilities &= ~capabilities; // value = value AND NOT parameter. This will unset the parameter from the value
if (!Authenticated)
{
return;
}
var json = new JObject
{
[Constants.Type] = Constants.SetCapabilities
};
if (ReferenceEquals(kai, DefaultKai))
{
json.Add(Constants.KaiID, Constants.Default);
}
else if (ReferenceEquals(kai, DefaultLeftKai))
{
json.Add(Constants.KaiID, Constants.DefaultLeft);
}
else if (ReferenceEquals(kai, DefaultRightKai))
{
json.Add(Constants.KaiID, Constants.DefaultRight);
}
else
{
json.Add(Constants.KaiID, kai.KaiID);
}
if (capabilities.HasFlag(KaiCapabilities.GestureData))
{
json.Add(Constants.GestureData, false);
}
if (capabilities.HasFlag(KaiCapabilities.LinearFlickData))
{
json.Add(Constants.LinearFlickData, false);
}
if (capabilities.HasFlag(KaiCapabilities.FingerShortcutData))
{
json.Add(Constants.FingerShortcutData, false);
}
if (capabilities.HasFlag(KaiCapabilities.FingerPositionalData))
{
json.Add(Constants.FingerPositionalData, false);
}
if (capabilities.HasFlag(KaiCapabilities.PYRData))
{
json.Add(Constants.PYRData, false);
}
if (capabilities.HasFlag(KaiCapabilities.QuaternionData))
{
json.Add(Constants.QuaternionData, false);
}
if (capabilities.HasFlag(KaiCapabilities.AccelerometerData))
{
json.Add(Constants.AccelerometerData, false);
}
if (capabilities.HasFlag(KaiCapabilities.GyroscopeData))
{
json.Add(Constants.GyroscopeData, false);
}
if (capabilities.HasFlag(KaiCapabilities.MagnetometerData))
{
json.Add(Constants.MagnetometerData, false);
}
Send(json.ToString(Formatting.None));
}
/// <summary>
/// Set the Kai's capabilities and subscribes to that data
/// </summary>
/// <param name="capabilities">The capabilities to set the Kai to</param>
/// <param name="kai">The kai to set the capabilities to</param>
public static void SetCapabilities(Kai kai, KaiCapabilities capabilities)
{
var newCapabilities = kai.Capabilities | capabilities;
kai.Capabilities = newCapabilities;
if (kai.Capabilities == 0)
{
return;
}
if (!Authenticated)
{
return;
}
var json = new JObject
{
[Constants.Type] = Constants.SetCapabilities
};
if (ReferenceEquals(kai, DefaultKai))
{
json.Add(Constants.KaiID, Constants.Default);
}
else if (ReferenceEquals(kai, DefaultLeftKai))
{
json.Add(Constants.KaiID, Constants.DefaultLeft);
}
else if (ReferenceEquals(kai, DefaultRightKai))
{
json.Add(Constants.KaiID, Constants.DefaultRight);
}
else
{
json.Add(Constants.KaiID, kai.KaiID);
}
if (capabilities.HasFlag(KaiCapabilities.GestureData))
{
json.Add(Constants.GestureData, true);
}
if (capabilities.HasFlag(KaiCapabilities.LinearFlickData))
{
json.Add(Constants.LinearFlickData, true);
}
if (capabilities.HasFlag(KaiCapabilities.FingerShortcutData))
{
json.Add(Constants.FingerShortcutData, true);
}
if (capabilities.HasFlag(KaiCapabilities.FingerPositionalData))
{
json.Add(Constants.FingerPositionalData, true);
}
if (capabilities.HasFlag(KaiCapabilities.PYRData))
{
json.Add(Constants.PYRData, true);
}
if (capabilities.HasFlag(KaiCapabilities.QuaternionData))
{
json.Add(Constants.QuaternionData, true);
}
if (capabilities.HasFlag(KaiCapabilities.AccelerometerData))
{
json.Add(Constants.AccelerometerData, true);
}
if (capabilities.HasFlag(KaiCapabilities.GyroscopeData))
{
json.Add(Constants.GyroscopeData, true);
}
if (capabilities.HasFlag(KaiCapabilities.MagnetometerData))
{
json.Add(Constants.MagnetometerData, true);
}
Send(json.ToString(Formatting.None));
}
