private void CheckReceivedReady(UArmEventMessage message)
{
if (message.Id == Protocol.EventIdReady)
{
ReceivedReady?.Invoke(this, EventArgs.Empty);
}
}
private void CheckGroveUltrasonicSensorEvent(UArmEventMessage message)
{
int moduleType;
int distance;
if (message.Id == Protocol.EventIdGroveModuleDataReceived &&
message.Args.Length > 1 &&
int.TryParse(message.Args[0].Substring(1), out moduleType) &&
moduleType == (int)GroveModuleTypes.Ultrasonic &&
int.TryParse(message.Args[1].Substring(1), out distance)
)
{
ReceivedGroveUltrasonicSensorData?.Invoke(this, new GroveUltrasonicDataEventArgs(distance));
}
}
private void CheckPowerConnectionChanged(UArmEventMessage message)
{
int powerState;
if (message.Id == Protocol.EventIdPowerConnection &&
message.Args.Length > 0 &&
int.TryParse(message.Args[0].Substring(1), out powerState)
)
{
PowerConnectionChanged?.Invoke(
this,
new PowerConnectionChangedEventArgs(powerState != 0)
);
}
}
private void OnLineReceived(string line)
{
string[] data = line.Split(' ');
//begin with "@": treat as event message
int eventId = 0;
if (data.Length > 0 &&
data[0].Length > 1 &&
data[0][0] == '@' &&
int.TryParse(data[0].Substring(1), out eventId)
)
{
var args = new string[data.Length - 1];
Array.Copy(data, 1, args, 0, args.Length);
var eventMessage = new UArmEventMessage(eventId, args);
ReceivedEvent?.Invoke(this, new UArmEventMessageEventArgs(eventMessage));
return;
}
//begin with "$": treas as response
int id = -1;
if (data.Length > 1 &&
data[0].Length > 1 &&
data[0][0] == '$' &&
int.TryParse(data[0].Substring(1), out id))
{
var args = new string[data.Length - 1];
Array.Copy(data, 1, args, 0, args.Length);
var response = new UArmResponse(id, args);
//Terminate waiting process if pending exists
if (_pendingCommandIds.ContainsKey(id))
{
_responses[id] = response;
_pendingCommandIds[id].Cancel();
}
ReceivedResponse?.Invoke(this, new UArmResponseEventArgs(response));
return;
}
//Unknown data
}
private void CheckLimitedSwitchStateChanged(UArmEventMessage message)
{
int switchNumber, switchState;
if (message.Id == Protocol.EventIdLimitedSwitch &&
message.Args.Length > 1 &&
int.TryParse(message.Args[0].Substring(1), out switchNumber) &&
int.TryParse(message.Args[1].Substring(1), out switchState)
)
{
LimitedSwitchStateChanged?.Invoke(
this,
new LimitedSwitchEventArgs(switchNumber, switchState != 0)
);
}
}
private void CheckReceivedButtonAction(UArmEventMessage message)
{
int buttonType, buttonActionType;
if (message.Id == Protocol.EventIdButton &&
message.Args.Length > 1 &&
int.TryParse(message.Args[0].Substring(1), out buttonType) &&
int.TryParse(message.Args[1].Substring(1), out buttonActionType)
)
{
ReceivedButtonAction?.Invoke(
this,
new ButtonActionEventArgs((ButtonTypes)buttonType, (ButtonActionTypes)buttonActionType)
);
}
}
private void CheckGroveGestureSensorEvent(UArmEventMessage message)
{
int moduleType;
int gestureCode;
if (message.Id == Protocol.EventIdGroveModuleDataReceived &&
message.Args.Length > 1 &&
int.TryParse(message.Args[0].Substring(1), out moduleType) &&
moduleType == (int)GroveModuleTypes.GestureSensor &&
int.TryParse(message.Args[1].Substring(1), out gestureCode)
)
{
ReceivedGroveGestureSensorData?.Invoke(
this, new GroveGestureSensorDataEventArgs((GroveGestureSensorStates)gestureCode)
);
}
}
private void CheckGroveColorSensorEvent(UArmEventMessage message)
{
int moduleType;
byte r, g, b;
if (message.Id == Protocol.EventIdGroveModuleDataReceived &&
message.Args.Length > 3 &&
int.TryParse(message.Args[0].Substring(1), out moduleType) &&
moduleType == (int)GroveModuleTypes.ColorSensor &&
byte.TryParse(message.Args[1].Substring(1), out r) &&
byte.TryParse(message.Args[2].Substring(1), out g) &&
byte.TryParse(message.Args[3].Substring(1), out b)
)
{
ReceivedGroveColorSensorData?.Invoke(this, new GroveColorSensorDataEventArgs(r, g, b));
}
}
private void CheckGroveTemperatureAndHumiditySensorEvent(UArmEventMessage message)
{
int moduleType;
double temperature, humidity;
if (message.Id == Protocol.EventIdGroveModuleDataReceived &&
message.Args.Length > 2 &&
int.TryParse(message.Args[0].Substring(1), out moduleType) &&
moduleType == (int)GroveModuleTypes.TemperatureAndHumiditySensor &&
double.TryParse(message.Args[1].Substring(1), out temperature) &&
double.TryParse(message.Args[2].Substring(1), out humidity)
)
{
ReceivedGroveTemperatureAndHumiditySensorData?.Invoke(
this, new GroveTempAndHumiditySensorDataEventArgs(temperature, humidity)
);
}
}
private void CheckReceivedPositionFeedback(UArmEventMessage message)
{
float x, y, z, handAngle;
if (message.Id == Protocol.EventIdTimedFeedback &&
message.Args.Length > 3 &&
float.TryParse(message.Args[0].Substring(1), out x) &&
float.TryParse(message.Args[1].Substring(1), out y) &&
float.TryParse(message.Args[2].Substring(1), out z) &&
float.TryParse(message.Args[3].Substring(1), out handAngle)
)
{
ReceivedPositionFeedback?.Invoke(
this,
new PositionFeedbackEventArgs(new Position(x, y, z), handAngle)
);
}
}
public UArmEventMessageEventArgs(UArmEventMessage eventMessage)
{
EventMessage = eventMessage;
}
