public override async Task ReceiveAsync(WebSocket socket, WebSocketReceiveResult result, byte[] buffer)
{
var socketid = WebSocketObjectHolder.GetId(socket);
var message = $"{socketid} said: {Encoding.UTF8.GetString(buffer, 0, result.Count)}";
await SendMessageToAllAsync(message, AppConst.NON_BOM_UTF8_ENCORDING);
}
public ForceSensorHandlerSingle(WebSocketObjectHolder webSocketObjectHolder, Settings settings) : base(webSocketObjectHolder)
{
this.settings = settings;
if (isEthernet)
{
forceSensor = new ForceSensorEthernetManager();
}
else
{
forceSensor = new ForceSensorSerialManager
{
PortName = settings.SensorCom
};
}
forceSensor.SensorDataUpdated += ForceSensor_SensorDataUpdated;
try
{
forceSensor.Connect();
}
catch (System.Exception e)
{
Console.Error.WriteLine(e.ToString());
}
}
public override async Task OnDisconnected(WebSocket socket)
{
var socketId = WebSocketObjectHolder.GetId(socket);
await base.OnDisconnected(socket);
await SendMessageToAllAsync($"{socketId} disconnected", AppConst.NON_BOM_UTF8_ENCORDING);
}
public override async Task ReceiveAsync(WebSocket socket, WebSocketReceiveResult result, byte[] buffer)
{
var socketid = WebSocketObjectHolder.GetId(socket);
var message = AppConst.NON_BOM_UTF8_ENCORDING.GetString(buffer, 0, result.Count);
await Task.CompletedTask; // Todo: コマンド受信処理
}
public override async Task OnConnected(WebSocket socket)
{
await base.OnConnected(socket);
var socketid = WebSocketObjectHolder.GetId(socket);
Console.WriteLine($"socket created: {socketid}");
await Task.CompletedTask;
//await SendMessageToAllAsync($"{socketid} is now connected", AppConst.NON_BOM_UTF8_ENCORDING);
}
public override async Task OnDisconnected(WebSocket client)
{
var socketId = WebSocketObjectHolder.GetId(client);
await base.OnDisconnected(client);
Console.WriteLine($"socket closed: {socketId}");
await Task.CompletedTask;
//await SendMessageToAllAsync($"{socketId} disconnected", AppConst.NON_BOM_UTF8_ENCORDING);
}
public ForceSensorHandlerDouble(WebSocketObjectHolder webSocketObjectHolder) : base(webSocketObjectHolder)
{
forceSensor = new ForceSensorEthernetManager();
forceSensor.SensorDataUpdated += ForceSensor_SensorDataUpdated;
try
{
forceSensor.Connect();
}
catch (System.Exception e)
{
Console.Error.WriteLine(e.ToString());
}
}
public RobotInfoHandler(WebSocketObjectHolder webSocketObjectHolder, Settings settings) : base(webSocketObjectHolder)
{
this.settings = settings;
this.robotInfo = new RobotInfo
{
Tcp = new Position
{
X = 0,
Y = 0,
Z = 0,
Role = 0,
Pitch = 0,
Yaw = 0
}
};
var flex = new flexData
{
version = "1",
dataExchange = new type_dataExchange
{
dataRequest = new type_dataExchange_dataRequest[]
{
new type_dataExchange_dataRequest
{
data = new type_dataExchange_dataRequest_data[]
{
new type_dataExchange_dataRequest_data
{
unit = "1",
group = type_DataGroup.Generic,
id = "SYSTEM!",
subid = "810",
count = "6",
push = "-1",
threshold = 0.01,
priority = "5"
}
}
}
}
}
};
this.sendMessage = createMessage(flex);
}
public override async Task ReceiveAsync(WebSocket socket, WebSocketReceiveResult result, byte[] buffer)
{
var socketid = WebSocketObjectHolder.GetId(socket);
var message = AppConst.NON_BOM_UTF8_ENCORDING.GetString(buffer, 0, result.Count);
if (message.Length > 0)
{
try
{
var request = JsonConvert.DeserializeObject <WebSocketRequest>(message);
Console.WriteLine(request.Cmd);
Console.WriteLine(request.Args);
switch (request.Cmd)
{
case (WebSocketCommands.SENSOR_RESET):
sensorCount = 0;
break;
case (WebSocketCommands.LOG_START):
LogStart();
break;
case (WebSocketCommands.LOG_STOP):
LogStopAndSave(request.Args.ToString());
break;
default:
break;
}
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
//await socket.SendAsync(AppConst.NON_BOM_UTF8_ENCORDING.GetBytes(e.ToString()), WebSocketMessageType.Text, true, CancellationToken.None);
}
}
await Task.CompletedTask; // Todo: コマンド受信処理
}
public SensorInfoHandler(WebSocketObjectHolder webSocketObjectHolder, Settings settings) : base(webSocketObjectHolder)
{
this.settings = settings;
if (isEthernet)
{
forceSensor = new ForceSensorEthernetManager();
}
else
{
forceSensor = new ForceSensorSerialManager
{
PortName = settings.SensorCom
};
}
forceSensor.SensorDataUpdated += ForceSensor_SensorDataUpdated;
cfdLogger = new CFD_Logger();
cfdLogger.RobotInfoUpdated += CfdLogger_RobotInfoUpdated;
}
public override async Task OnDisconnected(WebSocket socket)
{
var socketId = WebSocketObjectHolder.GetId(socket);
await base.OnDisconnected(socket);
Console.WriteLine($"socket closed: {socketId}");
if (WebSocketObjectHolder.Count <= 0)
{
StopLoggingTimer();
StopSendTimer();
Thread.Sleep(100);
this.forceSensor.DisConnect();
this.cfdLogger.DisConnect();
}
await Task.CompletedTask;
}
// WebSocket 関連イベント
public override async Task OnConnected(WebSocket socket)
{
await base.OnConnected(socket);
if (!cfdLogger.IsLogging)
{
cfdLogger.Connect(settings.CfdIP, settings.CfdPort);
}
if (!forceSensor.IsConnecting)
{
forceSensor.Connect();
}
StartSendTimer();
var socketid = WebSocketObjectHolder.GetId(socket);
Console.WriteLine($"socket created: {socketid}");
await Task.CompletedTask;
}
public ForceSensorTestHandlerDouble(WebSocketObjectHolder webSocketObjectHolder) : base(webSocketObjectHolder)
{
DateTime s = DateTime.Now;
this.testLoop = Task.Run(async() => {
this.isStop = false;
var random = new Random();
var seed = 2.0;
while (!this.isStop)
{
var randomFArray = Enumerable.Range(0, 6).Select(i => Convert.ToSingle(seed * random.NextDouble() - seed / 2.0)).ToArray();
var data = new ForceSensorData
{
Fx = randomFArray[0],
Fy = randomFArray[1],
Fz = randomFArray[2],
Mx = randomFArray[3],
My = randomFArray[4],
Mz = randomFArray[5],
};
var res = new ForceSensorResponceDouble
{
Sensor1 = data,
Sensor2 = data,
TimeStamp = Convert.ToUInt32((DateTime.Now - s).TotalMilliseconds),
};
var resStr = JsonConvert.SerializeObject(res);
await SendMessageToAllAsync(resStr, AppConst.NON_BOM_UTF8_ENCORDING);
System.Threading.Thread.Sleep(10);
}
});
}
public RobotInfoTestHandler(WebSocketObjectHolder webSocketObjectHolder) : base(webSocketObjectHolder)
{
DateTime s = DateTime.Now;
this.testLoop = Task.Run(async() => {
this.isStop = false;
var random = new Random();
var seed = 2.0;
while (!this.isStop)
{
var randomFArray = Enumerable.Range(0, 6).Select(i => Convert.ToSingle(seed * random.NextDouble() - seed / 2.0)).ToArray();
var data = new Position
{
X = randomFArray[0],
Y = randomFArray[1],
Z = randomFArray[2],
Role = randomFArray[3],
Pitch = randomFArray[4],
Yaw = randomFArray[5],
};
var res = new RobotInfo
{
Tcp = data,
};
var resStr = JsonConvert.SerializeObject(res);
await SendMessageToAllAsync(resStr, AppConst.NON_BOM_UTF8_ENCORDING);
System.Threading.Thread.Sleep(10);
}
});
}
public ChatMessageHandler(WebSocketObjectHolder webSocketObjectHolder) : base(webSocketObjectHolder)
{
}
public override async Task OnConnected(WebSocket client)
{
await base.OnConnected(client);
var socketid = WebSocketObjectHolder.GetId(client);
Console.WriteLine($"socket created: {socketid}");
if (this.watchLoop == null)
{
this.watchLoop = Task.Run(async() =>
{
Connect();
isStop = false;
while (!isStop)
{
this.socket.Send(this.sendMessage);
int receiveLength = socket.Receive(this.resBuffer);
flexData resData = null;
using (var ms = new System.IO.MemoryStream())
{
try
{
var length = ParseHeader(this.resBuffer, 0);
System.Diagnostics.Debug.WriteLine(length);
// ms.Write(res, 8, receiveLength - 8);
ms.Write(this.resBuffer, 8, length);
ms.Position = 0;
//Console.WriteLine(Encoding.UTF8.GetString(ms.GetBuffer()));
resData = (flexData)serializer.Deserialize(ms);
if (resData.notifications != null)
{
resData.notifications.ToList().ForEach(n =>
{
Console.Error.WriteLine($"{n.code}: {n.message}");
});
Thread.Sleep(1000);
continue;
}
var updateData = resData.dataExchange.dataUpdate[0].data[0].r;
await infoSemaphore.WaitAsync();
try
{
this.robotInfo.Tcp.X = (float)updateData[0];
this.robotInfo.Tcp.Y = (float)updateData[1];
this.robotInfo.Tcp.Z = (float)updateData[2];
this.robotInfo.Tcp.Role = (float)updateData[3];
this.robotInfo.Tcp.Pitch = (float)updateData[4];
this.robotInfo.Tcp.Yaw = (float)updateData[5];
}
finally
{
infoSemaphore.Release();
}
Thread.Sleep(5);
}
catch (System.Exception err)
{
Console.WriteLine(err.ToString());
Thread.Sleep(5000);
throw;
}
finally
{
ms.Dispose();
}
}
}
});
}
Thread.Sleep(100);
if (sendLoop == null)
{
this.sendLoop = Task.Run(async() =>
{
isStop = false;
string str = null;
while (!isStop)
{
await infoSemaphore.WaitAsync();
try
{
str = JsonConvert.SerializeObject(this.robotInfo);
}
finally
{
infoSemaphore.Release();
}
//Console.WriteLine(str);
await SendMessageToAllAsync(str, AppConst.NON_BOM_UTF8_ENCORDING);
Thread.Sleep(10);
}
});
}
await Task.CompletedTask;
}
public WebSocketHandler(WebSocketObjectHolder webSocketObjectHolder)
{
WebSocketObjectHolder = webSocketObjectHolder;
}
