/// <summary>
/// Sends a byte alongside a command, for commands that need a byte, such as getting previous reccam parameters config
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="number"></param>
/// <returns></returns>
public bool sendCommand(byte module, byte action, int number)
{
byte[] header_bytes = new byte[7] {
(byte)'A', module, action, 0, 0, 0, 0
};
NetMQMessage req_msg = new NetMQMessage();
byte[] bytesNumber = BitConverter.GetBytes(number);
for (int i = 3; i < 7; i++)
{
header_bytes[i] = bytesNumber[i - 3];
}
req_msg.Append(header_bytes);
//req_msg.Append((byte)number);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
public IMessage MessageGateWayRequest(string StdMessageName, string destClassName, Dictionary <string, string> dicParam, uint attach, int timeout)
{
StdMessage message = new StdMessage(StdMessageName);
foreach (string strKey in dicParam.Keys)
{
message.Parameters.Add(strKey, dicParam[strKey]);
}
int l_TimeOut = timeout == 0 ? m_GatewayTimeout : timeout;
m_GatewaySync.Reset();
m_GatewayResult = null;
m_GatewaySendId = this.m_Gateway.Request(destClassName, message, attach);
if (m_GatewaySendId == 0)
{
return(null);
}
if (!m_GatewaySync.WaitOne(l_TimeOut, true))
{
m_GatewaySendId = 0;
return(null);
}
return(m_GatewayResult.UserMessage);
}
/// <summary>
/// Command to download files
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="offset"></param>
/// <param name="size"></param>
/// <param name="fileName">It must end in \0</param>
/// <returns></returns>
public bool sendTwoPartCommand(byte module, byte action, ulong offset, ulong size, string fileName)
{
byte[] header_bytes = new byte[19];
header_bytes[0] = (byte)'A';
header_bytes[1] = module;
header_bytes[2] = action;
byte[] bytesConverted = BitConverter.GetBytes(offset);
for (int i = 0; i < bytesConverted.Length; i++)
{
header_bytes[3 + i] = bytesConverted[i];
}
bytesConverted = BitConverter.GetBytes(size);
for (int i = 0; i < bytesConverted.Length; i++)
{
header_bytes[11 + i] = bytesConverted[i];
}
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(header_bytes);
req_msg.Append(fileName);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
/*
* public bool sendTwoPartCommand(byte module, byte action, int number)
* {
* byte[] header_bytes = new byte[3] { (byte)'A', module, action };
* NetMQMessage req_msg = new NetMQMessage();
* req_msg.Append(header_bytes);
* req_msg.Append((byte)number);
* NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
*
* reqSrv = new ReliableExternalClient(
* GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
* if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
* {
* UnityEngine.Debug.Log("Client: server not respoding");
* return false;
* }
*
* return true;
* }
*/
/// <summary>
/// Command to send the matrix to the server
/// </summary>
/// <param name="matrix"></param>
/// <returns></returns>
public bool sendCommand(RegistrationMatrix matrix)
{
byte[] header_bytes = new byte[68];
NetMQMessage req_msg = new NetMQMessage();
header_bytes[0] = (byte)'A';
header_bytes[1] = matrix.MatrixHeader.module;
header_bytes[2] = matrix.MatrixHeader.action;
header_bytes[3] = matrix.rowMajor;
for (int i = 0; i < 16; i++)
{
byte[] aux = BitConverter.GetBytes(matrix.elems[i]);
header_bytes[i * 4 + 4] = aux[0];
header_bytes[i * 4 + 5] = aux[1];
header_bytes[i * 4 + 6] = aux[2];
header_bytes[i * 4 + 7] = aux[3];
}
req_msg.Append(header_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
/// <summary>
/// This one is to delete pointclouds
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="pointCloudID"></param>
/// <returns></returns>
public bool sendCommand(byte module, byte action, PointCloudID pointCloudID)
{
byte[] header_bytes = new byte[17];
header_bytes[0] = (byte)'A';
header_bytes[1] = module;
header_bytes[2] = action;
header_bytes[3] = (byte)' ';
header_bytes[16] = pointCloudID.heading;
byte[] iArray = BitConverter.GetBytes(pointCloudID.i);
byte[] jArray = BitConverter.GetBytes(pointCloudID.j);
byte[] kArray = BitConverter.GetBytes(pointCloudID.k);
for (int i = 4; i < 8; i++)
{
header_bytes[i + 1 * 0] = iArray[i - 4];
header_bytes[i + 1 * 4] = jArray[i - 4];
header_bytes[i + 1 * 8] = kArray[i - 4];
}
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(header_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
/// <summary>
/// Sets drone filter. Only pozyx used this
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="space"></param>
/// <param name="updatePeriod"></param>
/// <param name="movementFreedom"></param>
/// <returns></returns>
public bool sendSetDroneFilter(byte module, byte action, byte space, float updatePeriod, Int32 movementFreedom)
{
byte[] header_bytes = new byte[12] {
(byte)'A', module, action, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
byte[] convertedUpdatePeriod = BitConverter.GetBytes(updatePeriod);
byte[] convertedMovementFreedom = BitConverter.GetBytes(movementFreedom);
System.Buffer.BlockCopy(convertedUpdatePeriod, 0, header_bytes, 4, 4);
System.Buffer.BlockCopy(convertedMovementFreedom, 0, header_bytes, 8, 4);
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(header_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
/// <summary>
/// Sends z camera offset
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="camInfo"></param>
/// <returns></returns>
public bool sendCommand(byte module, byte action, ServerMessages.DroneCamInfo camInfo)
{
byte[] data_bytes = new byte[31]; // { (byte)'A', module, action, data.id, data.order, data.position };
data_bytes[0] = (byte)'A';
data_bytes[1] = module;
data_bytes[2] = action;
byte[] converted = BitConverter.GetBytes(camInfo.camPos.x);
for (int i = 0; i < 4; i++)
{
data_bytes[i + 4] = converted[i];
}
converted = BitConverter.GetBytes(camInfo.camPos.y);
for (int i = 0; i < 4; i++)
{
data_bytes[i + 8] = converted[i];
}
converted = BitConverter.GetBytes(camInfo.camPos.z);
for (int i = 0; i < 4; i++)
{
data_bytes[i + 12] = converted[i];
}
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(data_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
// Just after the request the atreyu server must respond with a notification
// (ACK, UNKNOWN_MODULE, or UNDEFINED_MODULE) through the same 'requests' socket.
if (StdMessage.isStdNotification(ref resp_msg) && StdMessage.getMessageAction(ref resp_msg) != (byte)NotificationType.ACK)
{
if (module == (byte)Modules.STD_COMMANDS_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: STD command was not accepted {0}", new StdMessage(module, action).to_string()));
}
else if (module == (byte)Modules.POSITIONING_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POSITIONING_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
else if (module == (byte)Modules.POINTCLOUD_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POINTCLOUD_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
return(false);
}
return(true);
}
public bool sendAndReceive(ref NetMQ.Msg req_msg, ref NetMQ.Msg resp_msg)
{
if (socket == null)
{
reconnect();
}
StdMessage m = new StdMessage(req_msg.Data[1], req_msg.Data[2]);
NetMQ.Msg copy = new NetMQ.Msg();
bool ok = false;
for (uint i = 0; i < retries; i++)
{
copy.Copy(ref req_msg);
// send
if (!socket.TrySend(ref copy, TimeSpan.FromMilliseconds(min_trysend_ms), false))
{
ok = false;
UnityEngine.Debug.Log("ReliableExternalClient: could not send");
break;
//TODO: clear enqueued messages when server is offline
}
//UnityEngine.Debug.Log("ReliableExternalClient: request sent " + m.to_string());
// receive
if (socket.TryReceive(ref resp_msg, timeout))
{
ok = true;
// UnityEngine.Debug.Log("ReliableExternalClient: response received "
//+ new StdMessage(resp_msg.Data[1], resp_msg.Data[2]).to_string());
break;
}
//UnityEngine.Debug.Log(String.Format("ReliableExternalClient: no response from server {0}. Retrying", srvAddress));
reconnect();
}
if (!ok)
{
UnityEngine.Debug.Log(String.Format("ReliableExternalClient: server {0} seems to be offline. Abandoning", srvAddress));
}
copy.Close();
socket.Dispose(); //call Dispose on all sockets before cleanup the netmq context
socket.Close();
socket = null;
if (socket == null)
{
UnityEngine.Debug.Log("ReliableExternalClient: socket closed and null");
}
return(ok);
}
private void frmCreateMessage_SaveClicked(object sender, EventArgs e)
{
_message = new StdMessage();
_message.MessageText = _edtMensaje.Text;
_message.StationIdTo = Convert.ToInt32(_cmbStation.SelectedValue);
_message.StationIdFrom = _StationIdFrom;
_message.MessageTypeId = 1;
_message.CreationDate = DateTime.Now;
_message.CreationBy = 1;
this.DialogResult = DialogResult.OK;
this.Hide();
}
//No one uses this
public bool sendThreePartCommand(byte module, byte action, byte[] data1, int size1, byte[] data2, int size2)
{
byte[] header_bytes = new byte[3] {
(byte)'A', module, action
};
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(header_bytes);
req_msg.Append(data1);
req_msg.Append(data2);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
// Just after the request the atreyu server must respond with a notification
// (ACK, UNKNOWN_MODULE, or UNDEFINED_MODULE) through the same 'requests' socket.
/*
* if (StdMessage.isStdNotification(ref resp_msg) && StdMessage.getMessageAction(ref resp_msg) != (byte)NotificationType.ACK)
* {
* if (module == (byte)Modules.STD_COMMANDS_MODULE)
* {
* UnityEngine.Debug.Log(
* String.Format("Client: STD command was not accepted {0}", new StdMessage(module, action).to_string()));
* }
* else if (module == (byte)Modules.POSITIONING_MODULE)
* {
* UnityEngine.Debug.Log(
* String.Format("Client: POSITIONING_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
* }
* else if (module == (byte)Modules.POINTCLOUD_MODULE)
* {
* UnityEngine.Debug.Log(
* String.Format("Client: POINTCLOUD_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
* }
* return false;
* }
*/
return(true);
}
/// <summary>
/// Command to load a plan on the Plan executor
/// </summary>
/// <param name="loadPlan"></param>
/// <param name="guid"></param>
/// <returns></returns>
public bool sendTwoPartCommand(LoadPlan loadPlan, string guid)
{
byte[] header_bytes = new byte[4] {
(byte)'A', loadPlan.PlanHeader.module, loadPlan.PlanHeader.action, loadPlan.indexPath
};
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(header_bytes);
req_msg.Append(guid);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
/// <summary>
/// Send parameters of the reccam which aren't bytes. Convert the value to send to 4 bytes
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="config"></param>
/// <param name="valueByte1"></param>
/// <param name="valueByte2"></param>
/// <param name="valueByte3"></param>
/// <param name="valueByte4"></param>
/// <returns></returns>
public bool sendCommand(byte module, byte action, byte config, byte valueByte1, byte valueByte2, byte valueByte3, byte valueByte4)
{
byte[] header_bytes = new byte[8] {
(byte)'A', module, action, config, valueByte1, valueByte2, valueByte3, valueByte4
};
NetMQMessage req_msg = new NetMQMessage();
req_msg.Append(header_bytes);
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response ## la respuesta de dos partes sigue siendo de este tipo?
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
return(true);
}
/// <summary>
/// Command to send a module and an action
/// </summary>
/// <param name="module">The module to send. See messagecodes</param>
/// <param name="action">The action that belongs to the module</param>
/// <returns></returns>
public bool SendCommand(byte module, byte action)
{
NetMQ.Msg req_msg = new StdMessage(module, action).to_Msg();
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
// Just after the request the atreyu server must respond with a notification
// (ACK, UNKNOWN_MODULE, or UNDEFINED_MODULE) through the same 'requests' socket.
if (StdMessage.isStdNotification(ref resp_msg) && StdMessage.getMessageAction(ref resp_msg) != (byte)NotificationType.ACK)
{
if (module == (byte)Modules.STD_COMMANDS_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: STD command was not accepted {0}", new StdMessage(module, action).to_string()));
}
else if (module == (byte)Modules.POSITIONING_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POSITIONING_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
else if (module == (byte)Modules.POINTCLOUD_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POINTCLOUD_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
return(false);
}
return(true);
}
/// <summary>
/// Command to send anchors to calibration
/// </summary>
/// <param name="module"></param>
/// <param name="action"></param>
/// <param name="data"></param>
/// <returns></returns>
public bool sendCommand(byte module, byte action, ServerMessages.IPSFrameAnchorData[] data)
{
NetMQMessage req_msg = new NetMQMessage();
byte[] header_bytes = new byte[8]; // { (byte)'A', module, action, data.id, data.order, data.position };
header_bytes[0] = (byte)'A';
header_bytes[1] = module;
header_bytes[2] = action;
header_bytes[3] = 0;
byte[] converted = BitConverter.GetBytes(data.Length);
System.Buffer.BlockCopy(converted, 0, header_bytes, 4, 4);
req_msg.Append(header_bytes);
for (int j = 0; j < data.Length; j++)
{
byte[] data_bytes = new byte[17];
UnityEngine.Debug.Log("Anchor ID: " + data[j].id);
converted = BitConverter.GetBytes(data[j].id);
System.Buffer.BlockCopy(converted, 0, data_bytes, 0, 4);
converted = BitConverter.GetBytes((int)data[j].position.x);
System.Buffer.BlockCopy(converted, 0, data_bytes, 4, 4);
converted = BitConverter.GetBytes((int)data[j].position.y);
System.Buffer.BlockCopy(converted, 0, data_bytes, 8, 4);
converted = BitConverter.GetBytes((int)data[j].position.z);
System.Buffer.BlockCopy(converted, 0, data_bytes, 12, 4);
data_bytes[16] = data[j].order;
req_msg.Append(data_bytes);
}
NetMQ.Msg resp_msg = new StdMessage(0x00, 0x00).to_Msg(); // it will be filled when receiving the response
reqSrv = new ReliableExternalClient(
GlobalSettings.Instance.getRequestPort(), TimeSpan.FromMilliseconds(1000), 3);
if (!reqSrv.sendAndReceive(ref req_msg, ref resp_msg))
{
UnityEngine.Debug.Log("Client: server not respoding");
return(false);
}
// Just after the request the atreyu server must respond with a notification
// (ACK, UNKNOWN_MODULE, or UNDEFINED_MODULE) through the same 'requests' socket.
if (StdMessage.isStdNotification(ref resp_msg) && StdMessage.getMessageAction(ref resp_msg) != (byte)NotificationType.ACK)
{
if (module == (byte)Modules.STD_COMMANDS_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: STD command was not accepted {0}", new StdMessage(module, action).to_string()));
}
else if (module == (byte)Modules.POSITIONING_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POSITIONING_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
else if (module == (byte)Modules.POINTCLOUD_MODULE)
{
UnityEngine.Debug.Log(
String.Format("Client: POINTCLOUD_MODULE command was not accepted {0}", new StdMessage(ref resp_msg).to_string()));
}
return(false);
}
return(true);
}
