public static SpheroDeviceMessage messageFromEncodedString(string encodedMessage)
{
SpheroDeviceMessageDecoder decoder =
new SpheroDeviceMessageDecoder(encodedMessage);
return((SpheroDeviceMessage)decoder.CreateObject());
}
public SpheroLocatorData( SpheroDeviceMessageDecoder decoder ) : base(decoder)
{
position.x = decoder.DecodeFloat("position.x");
position.y = decoder.DecodeFloat("position.y");
velocity.x = decoder.DecodeFloat("velocity.x");
velocity.y = decoder.DecodeFloat("velocity.y");
}
public object DecodeObject(string key)
{
object value = null;
dictionaryRepresentation.TryGetValue(key, out value);
if (value is Array)
{
// need to decode the objects in the array
Dictionary <string, object>[] encodedArray = (Dictionary <string, object>[])value;
Object[] decodedArray = new Object[encodedArray.Length];
int index = 0;
foreach (Dictionary <string, object> encodedDictionary in encodedArray)
{
SpheroDeviceMessageDecoder itemDecoder =
new SpheroDeviceMessageDecoder(encodedDictionary);
object decodedItem = itemDecoder.CreateObject();
decodedArray[index++] = decodedItem;
}
value = decodedArray;
}
else if (value is Dictionary <string, object> )
{
SpheroDeviceMessageDecoder decoder =
new SpheroDeviceMessageDecoder((Dictionary <string, object>)value);
value = decoder.CreateObject();
}
return(value);
}
public object DecodeObject(string key)
{
object value = null;
dictionaryRepresentation.TryGetValue(key, out value);
if (value is Array) {
// need to decode the objects in the array
Dictionary<string,object>[] encodedArray = (Dictionary<string,object>[])value;
Object[] decodedArray = new Object[encodedArray.Length];
int index = 0;
foreach(Dictionary<string,object> encodedDictionary in encodedArray)
{
SpheroDeviceMessageDecoder itemDecoder =
new SpheroDeviceMessageDecoder(encodedDictionary);
object decodedItem = itemDecoder.CreateObject();
decodedArray[index++] = decodedItem;
}
value = decodedArray;
} else if (value is Dictionary<string, object>) {
SpheroDeviceMessageDecoder decoder =
new SpheroDeviceMessageDecoder((Dictionary<string,object>)value);
value = decoder.CreateObject();
}
return value;
}
public SpheroBackEMFData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
filtered.right = decoder.DecodeInt32("filtered.rightMotor");
filtered.left = decoder.DecodeInt32("filtered.leftMotor");
raw.right = decoder.DecodeInt32("raw.rightMotor");
raw.left = decoder.DecodeInt32("raw.leftMotor");
}
public SpheroLocatorData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
position.x = decoder.DecodeFloat("position.x");
position.y = decoder.DecodeFloat("position.y");
velocity.x = decoder.DecodeFloat("velocity.x");
velocity.y = decoder.DecodeFloat("velocity.y");
}
public SpheroBackEMFData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
filtered.right = decoder.DecodeInt32("filtered.rightMotor");
filtered.left = decoder.DecodeInt32("filtered.leftMotor");
raw.right = decoder.DecodeInt32("raw.rightMotor");
raw.left = decoder.DecodeInt32("raw.leftMotor");
}
public SpheroQuaternionData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
q0 = decoder.DecodeFloat("quaternions.q0");
q1 = decoder.DecodeFloat("quaternions.q1");
q2 = decoder.DecodeFloat("quaternions.q2");
q3 = decoder.DecodeFloat("quaternions.q3");
}
public SpheroQuaternionData( SpheroDeviceMessageDecoder decoder ) : base(decoder)
{
q0 = decoder.DecodeFloat("quaternions.q0");
q1 = decoder.DecodeFloat("quaternions.q1");
q2 = decoder.DecodeFloat("quaternions.q2");
q3 = decoder.DecodeFloat("quaternions.q3");
}
public SpheroAccelerometerData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
normalized.X = decoder.DecodeFloat("normalized.x");
normalized.Y = decoder.DecodeFloat("normalized.y");
normalized.Z = decoder.DecodeFloat("normalized.z");
raw.x = decoder.DecodeInt32("accelerationRaw.x");
raw.y = decoder.DecodeInt32("accelerationRaw.y");
raw.z = decoder.DecodeInt32("accelerationRaw.z");
}
public SpheroGyroData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
rotationRate.x = decoder.DecodeInt32("rotationRate.x");
rotationRate.y = decoder.DecodeInt32("rotationRate.y");
rotationRate.z = decoder.DecodeInt32("rotationRate.z");
rotationRateRaw.x = decoder.DecodeInt32("rotationRateRaw.x");
rotationRateRaw.y = decoder.DecodeInt32("rotationRateRaw.y");
rotationRateRaw.z = decoder.DecodeInt32("rotationRateRaw.z");
}
public SpheroGyroData( SpheroDeviceMessageDecoder decoder ) : base(decoder)
{
rotationRate.x = decoder.DecodeInt32("rotationRate.x");
rotationRate.y = decoder.DecodeInt32("rotationRate.y");
rotationRate.z = decoder.DecodeInt32("rotationRate.z");
rotationRateRaw.x = decoder.DecodeInt32("rotationRateRaw.x");
rotationRateRaw.y = decoder.DecodeInt32("rotationRateRaw.y");
rotationRateRaw.z = decoder.DecodeInt32("rotationRateRaw.z");
}
public SpheroAccelerometerData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
normalized.X = decoder.DecodeFloat("normalized.x");
normalized.Y = decoder.DecodeFloat("normalized.y");
normalized.Z = decoder.DecodeFloat("normalized.z");
raw.x = decoder.DecodeInt32("accelerationRaw.x");
raw.y = decoder.DecodeInt32("accelerationRaw.y");
raw.z = decoder.DecodeInt32("accelerationRaw.z");
}
public SpheroDeviceSensorsData(SpheroDeviceMessageDecoder decoder)
{
accelerometerData =
(SpheroAccelerometerData)decoder.DecodeObject("accelerometerData");
attitudeData = (SpheroAttitudeData)decoder.DecodeObject("attitudeData");
quaternionData = (SpheroQuaternionData)decoder.DecodeObject("quaternionData");
backEMFData = (SpheroBackEMFData)decoder.DecodeObject("backEMFData");
locatorData = (SpheroLocatorData)decoder.DecodeObject("locatorData");
gyroData = (SpheroGyroData)decoder.DecodeObject("gyroData");
}
public SpheroDeviceSensorsData(SpheroDeviceMessageDecoder decoder)
{
accelerometerData =
(SpheroAccelerometerData)decoder.DecodeObject("accelerometerData");
attitudeData = (SpheroAttitudeData)decoder.DecodeObject("attitudeData");
quaternionData = (SpheroQuaternionData)decoder.DecodeObject("quaternionData");
backEMFData = (SpheroBackEMFData)decoder.DecodeObject("backEMFData");
locatorData = (SpheroLocatorData)decoder.DecodeObject("locatorData");
gyroData = (SpheroGyroData)decoder.DecodeObject("gyroData");
}
protected static void ReceiveDeviceMessage(string encodedMessage)
{
// Decode the string into an object
SpheroDeviceMessage message = SpheroDeviceMessageDecoder.messageFromEncodedString(encodedMessage);
// Pass it on to event handlers
if (message is SpheroDeviceAsyncMessage)
{
sharedInstance.OnAsyncMessageReceived(new MessengerEventArgs(message));
}
else if (message is SpheroDeviceNotification)
{
sharedInstance.OnNotificationMessageReceived(new MessengerEventArgs(message));
}
}
public SpheroDeviceSensorsAsyncData(SpheroDeviceMessageDecoder decoder)
: base(decoder)
{
frameCount = decoder.DecodeInt32("frameCount");
mask = decoder.DecodeUInt64("mask");
// Decode the frames array and create the frames array converting the
// type of each object
Object[] decodedArray = (Object[])decoder.DecodeObject("dataFrames");
frames = new SpheroDeviceSensorsData[decodedArray.Length];
int i = 0;
foreach( Object decodedObject in decodedArray ) {
frames[i++] = (SpheroDeviceSensorsData)decodedObject;
}
}
public SpheroDeviceSensorsAsyncData(SpheroDeviceMessageDecoder decoder)
: base(decoder)
{
frameCount = decoder.DecodeInt32("frameCount");
mask = decoder.DecodeUInt64("mask");
// Decode the frames array and create the frames array converting the
// type of each object
Object[] decodedArray = (Object[])decoder.DecodeObject("dataFrames");
frames = new SpheroDeviceSensorsData[decodedArray.Length];
int i = 0;
foreach (Object decodedObject in decodedArray)
{
frames[i++] = (SpheroDeviceSensorsData)decodedObject;
}
}
public SpheroAttitudeData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
pitch = decoder.DecodeFloat("pitch");
roll = decoder.DecodeFloat("roll");
yaw = decoder.DecodeFloat("yaw");
}
public SpheroDeviceNotification(SpheroDeviceMessageDecoder decoder)
: base(decoder)
{
// Do not change the "type" string since it is linked in RobotKit
m_NotificationType = (SpheroNotificationType)decoder.DecodeInt32("type");
}
public void TestDecode()
{
string encodedString = File.ReadAllText("/Users/brian/Documents/code/development/unity-plugin/ExampleProject/SensorStreaming/Assets/Plugins/SpheroTests/DataStreamingExample.json");
// Test that a message is created.
SpheroDeviceMessage message =
SpheroDeviceMessageDecoder.messageFromEncodedString(encodedString);
Assert.NotNull(message);
Assert.True(message is SpheroDeviceSensorsAsyncData);
Assert.Equal(123456, message.TimeStamp);
// Specific test for SpheroDeviceSensorsAsyncData
SpheroDeviceSensorsAsyncData sensorsAsyncData =
(SpheroDeviceSensorsAsyncData)message;
Assert.Equal(2, sensorsAsyncData.FrameCount);
Assert.Equal(0xF0000000E067E060, sensorsAsyncData.Mask);
Assert.NotNull(sensorsAsyncData.Frames);
Assert.True(sensorsAsyncData.Frames.Length > 1);
// Check values for a DeviceSensorsData object
SpheroDeviceSensorsData sensorsData = sensorsAsyncData.Frames[0];
// Accelerometer
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.X);
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.Y);
Assert.Equal(1.23f, sensorsData.AccelerometerData.Normalized.Z);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.x);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.y);
Assert.Equal(4096, sensorsData.AccelerometerData.Raw.z);
// Attitude
Assert.Equal(45.0f, sensorsData.AttitudeData.Pitch);
Assert.Equal(180.0f, sensorsData.AttitudeData.Roll);
Assert.Equal(270.0f, sensorsData.AttitudeData.Yaw);
// Quaternion
Assert.Equal(0.3f, sensorsData.QuaternionData.Q0);
Assert.Equal(0.7f, sensorsData.QuaternionData.Q1);
Assert.Equal(0.3f, sensorsData.QuaternionData.Q2);
Assert.Equal(1.0f, sensorsData.QuaternionData.Q3);
// back EMF
Assert.Equal(200, sensorsData.BackEMFData.Filtered.right);
Assert.Equal(200, sensorsData.BackEMFData.Filtered.left);
Assert.Equal(200, sensorsData.BackEMFData.Raw.right);
Assert.Equal(200, sensorsData.BackEMFData.Raw.left);
// locator
Assert.Equal(190.2f, sensorsData.LocatorData.Position.x);
Assert.Equal(85.6f, sensorsData.LocatorData.Position.y);
Assert.True(Math.Abs(208.5746868630036f - sensorsData.LocatorData.Position.Magnitude()) < 0.001);
Assert.Equal(9.99f, sensorsData.LocatorData.Velocity.x);
Assert.Equal(86.4f, sensorsData.LocatorData.Velocity.y);
// gyro
Assert.Equal(300, sensorsData.GyroData.RotationRate.x);
Assert.Equal(300, sensorsData.GyroData.RotationRate.y);
Assert.Equal(300, sensorsData.GyroData.RotationRate.z);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.x);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.y);
Assert.Equal(300, sensorsData.GyroData.RotationRateRaw.z);
}
public SpheroDeviceAsyncMessage(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
}
public SpheroDeviceMessage(SpheroDeviceMessageDecoder decoder)
{
timeStamp = decoder.DecodeInt64("timeStamp");
robotId = decoder.DecodeString("robotId");
}
public SpheroDeviceAsyncMessage(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
}
public static SpheroDeviceMessage messageFromEncodedString(string encodedMessage)
{
SpheroDeviceMessageDecoder decoder =
new SpheroDeviceMessageDecoder(encodedMessage);
return (SpheroDeviceMessage)decoder.CreateObject();
}
public SpheroAttitudeData(SpheroDeviceMessageDecoder decoder) : base(decoder)
{
pitch = decoder.DecodeFloat("pitch");
roll = decoder.DecodeFloat("roll");
yaw = decoder.DecodeFloat("yaw");
}
public SpheroDeviceMessage(SpheroDeviceMessageDecoder decoder) {
timeStamp = decoder.DecodeInt64("timeStamp");
robotId = decoder.DecodeString("robotId");
}
public SpheroSensorData(SpheroDeviceMessageDecoder decoder)
{
}
public SpheroSensorData(SpheroDeviceMessageDecoder decoder)
{
}
public SpheroDeviceNotification(SpheroDeviceMessageDecoder decoder)
: base(decoder)
{
// Do not change the "type" string since it is linked in RobotKit
m_NotificationType = (SpheroNotificationType)decoder.DecodeInt32("type");
}
