/// <summary>
/// This method manage the behaviour of the server when it receive a message.
/// </summary>
private void Handler(State so, int nBytes)
{
/*
* Message id starting by 1xx are post message (message that ask for changing something on the server)
* Message id starting by 2xx are answer message
* Message id starting by 3xx are get message (message that ask to know something from the server)
*
*
* Message id = 101 incoming request for connection
* Message id =102 incoming dictionaries with servos target position and motor target speed
* Message id = 201 answer to a connection request
* Message id = 202 answer to the request for the motors position and speed.
* Sending dictionaries with position for servos and speed for CCMotors
* Message id = 301 asking for motors position and speed
*/
var rcvString = Encoding.ASCII.GetString(so.Buffer, 0, nBytes);
if (!Message.IsMessage(rcvString))
{
/*
* This condition means the incoming message is not a message object
*/
switch (rcvString)
{
case "ping":
SendTo(EndPointToIpEndPoint(_epFrom), "pong");
break;
case "pong":
if (_sendPing)
{
_tPong = DateTime.Now.Millisecond;
_rcvPong = true;
}
break;
default:
if (_verbose)
{
Debug.Log(string.Format("RECV: {0}: {1}, {2}", _epFrom.ToString(), nBytes, rcvString));
}
break;
}
}
else if (!new Message(rcvString).CheckMessage())
{
/*
* This condition means the message is a corrupted Message object
*/
}
else
{
/*
* This condition means the message is a a Message object and it is not corrupted
*/
/* Write here the code to execute when a new Message is received */
var rcvMessage = new Message(rcvString);
if (_remoteUser != null && EndPointToIpEndPoint(_epFrom).Equals(_remoteUser))
{
/*
* This condition means the source of the incoming message is the identified remote user
*/
switch (rcvMessage.id)
{
case 101: // Ask for Connection
/*
* The incoming message comes from an user already connected.
*/
SendTo(_remoteUser,
new Message(201, "{" + '"' + "connection_status" + '"' + ": 1}").ToJson());
break;
case 102: // Translate Json to dictionaries and set Controller values
/*
* The json string is translated to two dictionaries with target values
* Then the Set Method of class Controller is called
*/
var target = new RobotCommandMessage(rcvMessage.message);
Debug.Log(target.cc_motors_target_speed);
Debug.Log(target.servomotors_target_position);
_robotController.SetServoPos(target.servomotors_target_position);
_robotController.SetDCMotorsSpeed(target.cc_motors_target_speed);
break;
case 301: // Ask for Connection
/*
* The incoming message must be an empty message with id 301.
* Example request :
* {"id": 301, "parity": 0, "len": 0, "message": ""}
* If the password is correct then the default remote user is the origin of the request.
*/
SendTo(_remoteUser, new Message(202, new RobotDataMessage(_robotController.GetServosData(), _robotController.GetDCMotorData()).ToJson()).ToJson());
break;
default:
if (_verbose)
{
Debug.Log("Unknown id");
Debug.Log(rcvString);
Debug.Log(rcvMessage.id);
}
break;
}
}
else
{
/*
* This condition means the source of the message is not the remote user
*/
switch (rcvMessage.id)
{
case 101: // Ask for Connection
/*
* The incoming message must have two keys "password" and "verbose".
* "password" is the hashed password with SHA1 algorithm.
* "verbose" tell the server if he must send a reply. Set the value to 1 for a reply else 0.
* Example request :
* {"id": 101, "parity": 1, "len": 71, "message": "{\"password\": \"a94a8fe5ccb19ba61c4c0873d391e987982fbbd3\" , \"verbose\": 1}"}
* If the password is correct then the default remote user is the origin of the request.
*/
try
{
var temp = new ConnectionMessage(rcvMessage.message);
if (temp.password.Equals(_hashPass))
{
_remoteUser = EndPointToIpEndPoint(_epFrom);
if (temp.verbose == 1)
{
SendTo(_remoteUser,
new Message(201, "{" + '"' + "connection_status" + '"' + ": 1}").ToJson());
}
}
else
{
if (temp.verbose == 1)
{
SendTo(EndPointToIpEndPoint(_epFrom),
new Message(201, "{" + '"' + "connection_status" + '"' + ": 0}").ToJson());
}
}
}
catch
{
if (_verbose)
{
Debug.Log("Message format not correct for connection");
}
}
break;
default:
if (_verbose)
{
Debug.Log("Unknown id");
Debug.Log(rcvString);
}
break;
}
}
}
}
