protected override VehicleMode Interpret(HeartbeatPayload heartbeat)
{
var customMode = (PlaneMode)(heartbeat.CustomMode);
return(new VehicleMode
{
BaseMode = heartbeat.BaseMode,
CustomMode = new VehicleCustomMode
{
Name = customMode.GetDisplayName(),
Value = (uint)customMode
}
});
}
protected abstract VehicleClass InterpretVehicleClass(HeartbeatPayload heartbeatPacket);
protected abstract VehicleMode Interpret(HeartbeatPayload heartbeat);
public Px4VehicleMode(HeartbeatPayload payload)
{
CustomMainMode = (CustomMainMode)((payload.CustomMode & 0xFF0000) >> 16);
CustomSubMode = (CustomSubMode)((payload.CustomMode & 0xFF000000) >> 24);
ModeFlag = payload.BaseMode;
}
//new Thread(async()
// => await HeartbeatSerivce()).Start();
public async Task HeartbeatSerivce(int bufferSize = 1024, bool isDebugging = false)
{
ClientWebSocket ws = new ClientWebSocket();
CancellationToken ct = new CancellationToken();
ArraySegment <byte> receiveBuffer = new ArraySegment <byte>(new byte[bufferSize]);
ArraySegment <byte> sendBuffer = new ArraySegment <byte>(new byte[bufferSize]);
await ws.ConnectAsync(new Uri("wss://gateway.discord.gg/?encoding=json&v=6"), ct);
while (ws.State == WebSocketState.Connecting)
{
Thread.Sleep(10);
}
bool hasHeartbeat = false;
int heartbeatInterval = 0;
long previousHeartbeat = DateTimeOffset.Now.ToUnixTimeMilliseconds();
GenericPayload lastPayload = new GenericPayload();
while (ws.State == WebSocketState.Open)
{
if (hasHeartbeat == false)
{
await ws.ReceiveAsync(receiveBuffer, ct);
string jsonData = Encoding.ASCII.GetString(receiveBuffer.ToArray()).Replace(" ", "");
GatewayPayload gateway = JsonConvert.DeserializeObject <GatewayPayload>(jsonData, JsonSettings);
HeartbeatPayload heartbeat = JsonConvert.DeserializeObject <HeartbeatPayload>(gateway.d.ToString(), JsonSettings);
lastPayload = new GenericPayload()
{
op = gateway.op,
d = gateway.s,
};
heartbeatInterval = heartbeat.heartbeat_interval;
hasHeartbeat = true;
}
else
{
if (previousHeartbeat + heartbeatInterval - 1500 <= DateTimeOffset.Now.ToUnixTimeMilliseconds())
{
GenericPayload payload = new GenericPayload()
{
op = 1,
d = lastPayload.d
};
string jsonData = JsonConvert.SerializeObject(payload);
byte[] data = Encoding.ASCII.GetBytes(jsonData);
sendBuffer = new ArraySegment <byte>(data);
await ws.SendAsync(sendBuffer, WebSocketMessageType.Text, true, ct);
Console.WriteLine("HEARTBEAT");
await ws.ReceiveAsync(receiveBuffer, ct);
data = receiveBuffer.ToArray();
int i = 0;
for (i = data.Length - 1; data[i] == 0; i--)
{
;
}
byte[] responseData = new byte[i];
Buffer.BlockCopy(data, 0, responseData, 0, responseData.Length);
jsonData = Encoding.ASCII.GetString(responseData);
Console.WriteLine(jsonData);
previousHeartbeat = DateTimeOffset.Now.ToUnixTimeMilliseconds();
}
}
receiveBuffer = new ArraySegment <byte>(new byte[bufferSize]);
Thread.Sleep(1);
}
}
/// <summary>
/// Post to the server a collection of heartbeat messages generated by the
/// Robots from a Machine
/// </summary>
/// <remarks>
/// Every 30 seconds the UiPath service running on a Robot Machine posts a
/// collection of heartbeat messages (one for each Robot hosted on the
/// Machine).
/// The response is a collection of commands specific to all the Robots defined
/// on that Machine, including the ones that were added in the meanwhile.
/// </remarks>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='payload'>
/// </param>
/// <param name='cancellationToken'>
/// The cancellation token.
/// </param>
public static async Task <HeartbeatResponse> HeartbeatAsync(this IRobotsService operations, HeartbeatPayload payload, System.Threading.CancellationToken cancellationToken = default(System.Threading.CancellationToken))
{
using (var _result = await operations.HeartbeatWithHttpMessagesAsync(payload, null, cancellationToken).ConfigureAwait(false))
{
return(_result.Body);
}
}
/// <summary>
/// Called by RobotSvc to disconnect all Robots.
/// </summary>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='payload'>
/// </param>
/// <param name='cancellationToken'>
/// The cancellation token.
/// </param>
public static async Task StopServiceAsync(this IRobotsService operations, HeartbeatPayload payload, System.Threading.CancellationToken cancellationToken = default(System.Threading.CancellationToken))
{
(await operations.StopServiceWithHttpMessagesAsync(payload, null, cancellationToken).ConfigureAwait(false)).Dispose();
}
protected override VehicleClass InterpretVehicleClass(HeartbeatPayload heartbeatPacket)
{
return(VehicleClass.Plane);
}
/// <summary>
/// Called by RobotSvc to disconnect all Robots.
/// </summary>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='body'>
/// </param>
/// <param name='cancellationToken'>
/// The cancellation token.
/// </param>
public static async Task StopServiceAsync(this IRobotsService operations, HeartbeatPayload body = default(HeartbeatPayload), CancellationToken cancellationToken = default(CancellationToken))
{
(await operations.StopServiceWithHttpMessagesAsync(body, null, cancellationToken).ConfigureAwait(false)).Dispose();
}
/// <summary>
/// Called by RobotSvc to disconnect all Robots.
/// </summary>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='body'>
/// </param>
public static void StopService(this IRobotsService operations, HeartbeatPayload body = default(HeartbeatPayload))
{
operations.StopServiceAsync(body).GetAwaiter().GetResult();
}
/// <summary>
/// Acquires licensing runtimes, updates machine's session state and reporting
/// time.
/// </summary>
/// <remarks>
/// Every 30 seconds the UiPath service sends a heartbeat.
/// The response is a collection of commands specific to that machine.
/// </remarks>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='body'>
/// </param>
/// <param name='cancellationToken'>
/// The cancellation token.
/// </param>
public static async Task <HeartbeatResponse> HeartbeatV2Async(this IRobotsService operations, HeartbeatPayload body = default(HeartbeatPayload), CancellationToken cancellationToken = default(CancellationToken))
{
using (var _result = await operations.HeartbeatV2WithHttpMessagesAsync(body, null, cancellationToken).ConfigureAwait(false))
{
return(_result.Body);
}
}
/// <summary>
/// Acquires licensing runtimes, updates machine's session state and reporting
/// time.
/// </summary>
/// <remarks>
/// Every 30 seconds the UiPath service sends a heartbeat.
/// The response is a collection of commands specific to that machine.
/// </remarks>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='body'>
/// </param>
public static HeartbeatResponse HeartbeatV2(this IRobotsService operations, HeartbeatPayload body = default(HeartbeatPayload))
{
return(operations.HeartbeatV2Async(body).GetAwaiter().GetResult());
}
/// <summary>
/// Post to the server a collection of heartbeat messages generated by the
/// Robots from a Machine
/// </summary>
/// <remarks>
/// Every 30 seconds the UiPath service running on a Robot Machine posts a
/// collection of heartbeat messages (one for each Robot hosted on the
/// Machine).
/// The response is a collection of commands specific to all the Robots defined
/// on that Machine, including the ones that were added in the meanwhile.
/// </remarks>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='payload'>
/// </param>
public static HeartbeatResponse Heartbeat(this IRobotsService operations, HeartbeatPayload payload)
{
return(operations.HeartbeatAsync(payload).GetAwaiter().GetResult());
}
/// <summary>
/// Called by RobotSvc to disconnect all Robots.
/// </summary>
/// <param name='operations'>
/// The operations group for this extension method.
/// </param>
/// <param name='payload'>
/// </param>
public static void StopService(this IRobotsService operations, HeartbeatPayload payload)
{
operations.StopServiceAsync(payload).GetAwaiter().GetResult();
}