protected override void onComRead(ComData raw)
{
switch (raw.getDataType())
{
case ComData.REQUEST:
Console.WriteLine("Requst: " + raw.GetRequest().ToString());
break;
case ComData.STRING:
Console.WriteLine("String : " + raw.getMessage());
break;
case "KeyFrame":
KeyFrame f = new KeyFrame();
if (!raw.TryParse(ref f))
{
Console.WriteLine("failed keyframe");
return;
}
driver.SetTarget(f.cursor);
break;
case "JSONableArray":
JSONableArray <float> a = new JSONableArray <float>(float.Parse);
if (!raw.TryParse(ref a))
{
Console.WriteLine("failed array");
return;
}
Angle[] angles = new Angle[6];
float[] rawF = a.getArray();
Array.Copy(Array.ConvertAll(rawF, (x) => { return(new Angle(x)); }),
2, angles, 0, angles.Length); // first 2 is time and gripper
//Console.WriteLine("array: {0}", string.Join<Angle>(", ", angles));
driver.SetTarget(angles);
break;
default:
Console.WriteLine("defaulted with: " + raw.getDataType());
break;
}
}