public void Release()
{
if (instance != null)
{
GalileoFunctions.ReleaseInstance(instance);
}
}
public void Dispose()
{
if (instance != null)
{
GalileoFunctions.Dispose(instance);
}
}
public GALILEO_RETURN_CODE ConnectIOT(string targetID, int timeout, string password, Action <GALILEO_RETURN_CODE, String> onConnect = null, Action <GALILEO_RETURN_CODE, String> onDisconnect = null)
{
byte[] targetIDBytes = Encoding.ASCII.GetBytes(targetID);
byte[] passwordBytes = Encoding.ASCII.GetBytes(password);
OnConnectDelegate onConnectCB = null;
OnDisconnectDelegate onDisconnectCB = null;
if (onConnect != null)
{
onConnectCB = (status, id, length) =>
{
byte[] result = new byte[length];
Marshal.Copy(id, result, 0, (int)length);
onConnect?.Invoke(status, Encoding.ASCII.GetString(result, 0, (int)length));
};
}
if (onDisconnect != null)
{
onDisconnectCB = (status, id, length) =>
{
byte[] result = new byte[length];
Marshal.Copy(id, result, 0, (int)length);
onDisconnect?.Invoke(status, Encoding.ASCII.GetString(result, 0, (int)length));
};
}
return(GalileoFunctions.ConnectIOT(instance, targetIDBytes, targetIDBytes.Length, timeout, passwordBytes, passwordBytes.Length, onConnectCB, onDisconnectCB));
}
public void SetCurrentStatusCallback(Action <GalileoStatus> statusCB = null)
{
onStatusUpdateCB = (status, statusJson, length) => {
byte[] result = new byte[length];
Marshal.Copy(statusJson, result, 0, (int)length);
var statusStr = Encoding.ASCII.GetString(result, 0, (int)length);
statusCB?.Invoke(JsonConvert.DeserializeObject <GalileoStatus>(statusStr));
};
GalileoFunctions.SetCurrentStatusCallback(instance, onStatusUpdateCB);
}
public void SetGoalReachedCallback(Action <int, GalileoStatus> goalCB)
{
onGoalReachedCB = (goalid, statusJson, length) => {
byte[] result = new byte[length];
Marshal.Copy(statusJson, result, 0, (int)length);
var statusStr = Encoding.ASCII.GetString(result, 0, (int)length);
goalCB?.Invoke(goalid, JsonConvert.DeserializeObject <GalileoStatus>(statusStr));
};
GalileoFunctions.SetGoalReachedCallback(instance, onGoalReachedCB);
}
public ServerInfo GetCurrentServer()
{
byte[] currentServer = new byte[1024 * 1024];
long length = 0;
GalileoFunctions.GetCurrentServer(instance, currentServer, ref length);
string currentServerJsonString = Encoding.UTF8.GetString(currentServer, 0, (int)length);
return(JsonConvert.DeserializeObject <ServerInfo>(currentServerJsonString));
}
public GalileoStatus GetCurrentStatus()
{
byte[] currentStatus = new byte[1024 * 1024];
long length = 0;
if (GalileoFunctions.GetCurrentStatus(instance, currentStatus, ref length) != GALILEO_RETURN_CODE.OK)
{
return(null);
}
string currentStatusJsonString = Encoding.UTF8.GetString(currentStatus, 0, (int)length);
return(JsonConvert.DeserializeObject <GalileoStatus>(currentStatusJsonString));
}
public List <ServerInfo> GetServersOnline()
{
byte[] servers = new byte[1024 * 1024];
long length = 0;
GalileoFunctions.GetServersOnline(instance, servers, ref length);
string serversJsonString = Encoding.UTF8.GetString(servers, 0, (int)length);
if (serversJsonString == "null")
{
return(new List <ServerInfo>());
}
JArray serversJson = JArray.Parse(serversJsonString);
List <ServerInfo> serversObj = new List <ServerInfo>();;
foreach (var server in serversJson)
{
serversObj.Add(server.ToObject <ServerInfo>());
}
return(serversObj);
}
public GALILEO_RETURN_CODE SendGalileoBridgeRequest(string method, string url, string body, ref HttpBridgeResponse response, int timeout = 10 * 1000)
{
var methodBytes = Encoding.UTF8.GetBytes(method);
var urlBytes = Encoding.UTF8.GetBytes(url);
var bodyBytes = Encoding.UTF8.GetBytes(body);
byte[] responseBytes = new byte[1024 * 1024];
long length = 0;
var status = GalileoFunctions.SendGalileoBridgeRequest(instance, methodBytes, methodBytes.Length,
urlBytes, urlBytes.Length,
bodyBytes, bodyBytes.Length,
responseBytes, ref length, timeout);
if (status != GALILEO_RETURN_CODE.OK)
{
return(status);
}
string responseStr = Encoding.UTF8.GetString(responseBytes, 0, (int)length);
response = JsonConvert.DeserializeObject <HttpBridgeResponse>(responseStr);
return(status);
}
public GALILEO_RETURN_CODE Connect(String targetID, bool autoConnect, int timeout, Action <GALILEO_RETURN_CODE, String> onConnect = null, Action <GALILEO_RETURN_CODE, String> onDisconnect = null)
{
byte[] targetIDBytes = Encoding.ASCII.GetBytes(targetID);
if (onConnect != null)
{
onConnectCB = (status, id, length) =>
{
byte[] result = new byte[length];
Marshal.Copy(id, result, 0, (int)length);
onConnect?.Invoke(status, Encoding.ASCII.GetString(result, 0, (int)length));
};
}
if (onDisconnect != null)
{
onDisconnectCB = (status, id, length) =>
{
byte[] result = new byte[length];
Marshal.Copy(id, result, 0, (int)length);
onDisconnect?.Invoke(status, Encoding.ASCII.GetString(result, 0, (int)length));
};
}
return(GalileoFunctions.Connect(instance, Encoding.ASCII.GetBytes(targetID), targetIDBytes.Length, autoConnect, timeout, onConnectCB, onDisconnectCB));
}
public GALILEO_RETURN_CODE StartLoop()
{
return(GalileoFunctions.StartLoop(instance));
}
public GALILEO_RETURN_CODE CheckServerOnline(string targetID)
{
var targetIDBytes = Encoding.UTF8.GetBytes(targetID);
return(GalileoFunctions.CheckServerOnline(instance, targetIDBytes, targetIDBytes.Length));
}
public bool IsConnecting()
{
return(GalileoFunctions.IsConnecting(instance));
}
public GALILEO_RETURN_CODE SendRawAudio(byte[] data)
{
return(GalileoFunctions.SendRawAudio(instance, data, data.Length));
}
public GALILEO_RETURN_CODE EnableGreeting(bool flag)
{
return(GalileoFunctions.EnableGreeting(instance, flag));
}
public GALILEO_RETURN_CODE StartChargeLocal()
{
return(GalileoFunctions.StartChargeLocal(instance));
}
public GALILEO_RETURN_CODE SendAudio(string audio)
{
var audioBytes = Encoding.UTF8.GetBytes(audio);
return(GalileoFunctions.SendAudio(instance, audioBytes, audioBytes.Length));
}
public GALILEO_RETURN_CODE Shutdown()
{
return(GalileoFunctions.Shutdown(instance));
}
public GALILEO_RETURN_CODE SetSpeed(float vLinear, float xAngle)
{
return(GalileoFunctions.SetSpeed(instance, vLinear, xAngle));
}
public GALILEO_RETURN_CODE StopMapping()
{
return(GalileoFunctions.StopMapping(instance));
}
public GALILEO_RETURN_CODE SetLoopWaitTime(byte time)
{
return(GalileoFunctions.SetLoopWaitTime(instance, time));
}
public GALILEO_RETURN_CODE GetGoalNum(ref byte goalNum)
{
return(GalileoFunctions.GetGoalNum(instance, ref goalNum));
}
public GALILEO_RETURN_CODE MoveTo(float x, float y, ref byte goalNum)
{
return(GalileoFunctions.MoveTo(instance, x, y, ref goalNum));
}
public GALILEO_RETURN_CODE StopCharge()
{
return(GalileoFunctions.StopCharge(instance));
}
public GALILEO_RETURN_CODE StartCharge(float x, float y)
{
return(GalileoFunctions.StartCharge(instance, x, y));
}
public GALILEO_RETURN_CODE SaveChargeBasePosition()
{
return(GalileoFunctions.SaveChargeBasePosition(instance));
}
public GALILEO_RETURN_CODE SetAngle(byte sign, byte angle)
{
return(GalileoFunctions.SetAngle(instance, sign, angle));
}
public void WaitForGoal(byte goalIndex)
{
GalileoFunctions.WaitForGoal(instance, goalIndex);
}
public void Disconnect()
{
GalileoFunctions.Disconnect(instance);
}
public GALILEO_RETURN_CODE UpdateMap()
{
return(GalileoFunctions.UpdateMap(instance));
}
