internal void RequestSupportCmdInfo(BridgeRequest req, BridgeResponse rep)
{
var json = req.GetArgument();
if (json.IsObject)
{
if (json.ContainsKey("protocol"))
{
JsonData protocols = json["protocol"];
if (protocols.IsArray)
{
JsonData result = new JsonData();
result.SetJsonType(JsonType.Object);
var protocolsCount = protocols.Count;
for (int i = 0; i < protocolsCount; i++)
{
var protocol = (string)protocols[i];
if (string.IsNullOrEmpty(protocol) || protocol == "Explorer")
{
protocol = "Explorer";
var support = CommandFactory.GetCommandSupprtList(typeof(ExploreProtocol));
result[protocol] = LitJsonHelper.CreateArrayJsonData(support);
}
}
rep.SetResult(BridgeCode.Success, result);
return;
}
}
}
DebugUtility.LogError(LoggerTags.Project, "The first argument is not JSON object, examples: 'protocol': [ 'Explorer' ] ");
rep.SetFailureResult(BridgeCode.Failure);
}
public JsonData ToJsonData(JsonData cache = null)
{
if (userData != null)
{
return(userData);
}
if (cache == null)
{
cache = new JsonData();
}
cache["device"] = device;
cache["mode"] = mode;
cache["id"] = id;
cache["code"] = code;
cache["uuid"] = uuid;
if (datas != null && datas.Length > 0)
{
cache["data"] = LitJsonHelper.CreateArrayJsonData(datas);
}
if (res)
{
cache["sendTo"] = "uCode";
}
return(cache);
}
public JsonData ToJsonData()
{
var result = new JsonData();
result.SetJsonType(JsonType.Object);
var device = new JsonData();
device.SetJsonType(JsonType.Object);
device["deviceID"] = deviceID;
device["supported"] = LitJsonHelper.CreateArrayJsonData(supportModes);
result["device"] = device;
return(result);
}
private static void RegisterRobots()
{
Register(typeof(Robot), (component) =>
{
var userData = new JsonData();
if (component is RobotVehicle vehicle)
{
if (vehicle.leftRotationParts != null && vehicle.leftRotationParts.Length > 0)
{
userData["left"] = LitJsonHelper.CreateArrayJsonData(vehicle.leftRotationParts.GetHierarchyPath(typeof(Robot)));
}
if (vehicle.rightRotationParts != null && vehicle.rightRotationParts.Length > 0)
{
userData["right"] = LitJsonHelper.CreateArrayJsonData(vehicle.rightRotationParts.GetHierarchyPath(typeof(Robot)));
}
userData["moveFactor"] = LitJsonHelper.CreateJsonData(vehicle.moveFactor);
userData["rotationSpeed"] = LitJsonHelper.CreateJsonData(vehicle.rotationSpeed);
userData["angularVelocity"] = LitJsonHelper.CreateJsonData(vehicle.angularVelocity);
}
return(userData);
});
}
private static void RegisterParts()
{
Register(typeof(Part), (component) =>
{
var part = (Part)component;
var userData = new JsonData();
userData[SerializationConst.address] = part.addressName;
return(userData);
});
Register(typeof(PartsGroup), (component) =>
{
var group = (PartsGroup)component;
var userData = new JsonData();
userData.SetJsonType(JsonType.Object);
userData["up"] = (int)group.upAxis;
userData["inv"] = group.inverseAxis.To01();
userData["commandType"] = (int)group.commandType;
if (group.controlTargets != null && group.controlTargets.Length > 0)
{
userData["targets"] = LitJsonHelper.CreateArrayJsonData(group.controlTargets.GetHierarchyPath(typeof(Robot)));
}
return(userData);
});
Register(typeof(PartComponent), (component) =>
{
var userData = new JsonData();
var pc = (PartComponent)component;
if (pc.pivotLink != null && pc.pivotLink != pc.transform)
{
userData["pivotLink"] = pc.pivotLink.GetHierarchyPath(typeof(Part));
}
if (component is AdvancedPartComponent apc)
{
userData["id"] = apc.id;
}
if (component is ButtonSensorComponent bsc)
{
userData["eventTimeout"] = LitJsonHelper.CreateJsonData(bsc.eventTimeout);
userData["timeout"] = LitJsonHelper.CreateJsonData(bsc.timeout);
}
if (component is LineTraceSensorComponent ltsc)
{
userData["expectedRange"] = LitJsonHelper.CreateJsonData(ltsc.expectedRange);
}
if (component is RotationPartComponent rpc)
{
if (rpc.axisDP != null)
{
userData["axisDP"] = rpc.axisDP.transform.GetHierarchyPath(typeof(Part));
}
userData["minEularAngleY"] = LitJsonHelper.CreateJsonData(rpc.minEularAngleY);
userData["maxEularAngleY"] = LitJsonHelper.CreateJsonData(rpc.maxEularAngleY);
userData["wrapMode"] = (int)rpc.wrapMode;
userData["convertMode"] = (int)rpc.convertMode;
userData["localEulerAnglesY"] = LitJsonHelper.CreateJsonData(rpc.localEulerAnglesY);
}
return(userData);
});
}
