private void MpuHandler(IArdNetSystem sender, RequestResponderStateObject e)
{
float accel = 1.0f;
//gyro data
//x, y, z
var xMove = int.Parse(e.RequestArgs[0]);
var yMove = int.Parse(e.RequestArgs[2]);
//Console.WriteLine($"[{xMove}, {yMove}]");
if (Math.Abs(xMove) < 1000)
{
xMove = 0;
}
else
{
xMove = (int)(xMove / 750.0);
}
if (Math.Abs(yMove) < 1000)
{
yMove = 0;
}
else
{
yMove = (int)(yMove / 750.0);
}
_mouseVector = new Point(xMove, yMove);
_mouseVectorLifetime = 0;
}
private void Server_TcpCommandResponseReceived(IArdNetSystem Sender, RequestResponseReceivedArgs e)
{
if (e is RequestResponseTimeoutArgs)
{
Console.WriteLine($"Command Timeout");
}
else if (e is RequestResponseCanceledArgs)
{
Console.WriteLine($"Command Canceled");
}
else if (e is RequestResponseDisconnectedArgs)
{
Console.WriteLine($"Command Disconnected");
}
else if (e is RequestResponseInvalidTargetArgs)
{
Console.WriteLine($"Command Not Delivered");
}
else
{
Console.WriteLine($"Command Response");
}
Console.WriteLine(" IP Address: " + e.Endpoint);
Console.WriteLine(" Command ID: " + e.RequestID);
Console.WriteLine(" Response: " + (e.Response ?? "[NULL]"));
for (int i = 0; i < e.ResponseArgs.Length; ++i)
{
Console.WriteLine($" Arg [{i}]: {e.ResponseArgs[i] ?? "[NULL]"}");
}
}
private void Server_TcpClientDisconnected(IArdNetSystem Sender, ISystemEndpoint e)
{
_ = Interlocked.Decrement(ref _tcpConnectionCount);
Console.WriteLine("Closed TCP Connection");
Console.WriteLine(" Connection Time: " + ((dynamic)e.UserState).Time);
Console.WriteLine(" IP Address: " + e.Endpoint);
}
private void Server_TcpMessageReceived(IArdNetSystem Sender, MessageReceivedArgs e)
{
Console.WriteLine("New TCP Message");
Console.WriteLine(" Connection Time: " + ((dynamic)e.ConnectedSystem.UserState).Time);
Console.WriteLine(" IP Address: " + e.Endpoint);
Console.WriteLine(" Message: " + (e.Message ?? "[NULL]"));
}
private static void ArdManager_CommandReceived(IArdNetSystem Sender, IConnectedSystemEndpoint ConnectedSystem, TcpRequest Message)
{
Debug.WriteLine($"CMD: {Message.Request}");
if (Message.Request == "VIBE")
{
_vibe.Blink(500);
}
}
public MouseMover(IArdNetSystem ArdSys)
{
if (ArdSys is null)
{
throw new ArgumentNullException(nameof(ArdSys));
}
_ardSys = ArdSys;
_ardSys.TcpCommandTable.Register("MPU", MpuHandler);
_ardSys.TcpCommandTable.Register("LClick", LClickHandler);
_mouseWorkerThread = new CancelThread <object>(MouseWorkerHandler);
}
private void LClickHandler(IArdNetSystem sender, RequestResponderStateObject request)
{
if (request.RequestArgs[0] == "down")
{
uint flags = 0x0002; //left mouse down
_ = mouse_event(flags, 0, 0, 0, 0);
}
else if (request.RequestArgs[0] == "up")
{
uint flags = 0x0004; //left mouse up
_ = mouse_event(flags, 0, 0, 0, 0);
}
}
private void Server_TcpClientConnected(IArdNetSystem Sender, IConnectedSystemEndpoint e)
{
_ = Interlocked.Increment(ref _tcpConnectionCount);
Console.WriteLine("New TCP Connection");
Console.WriteLine(" IP Address: " + e.Endpoint);
e.UserState = new
{
Name = "Hello",
Time = DateTime.Now
};
if (!ArdServer.NetConfig.TCP.HeartbeatConfig.ExpectHeartbeatResponse)
{
ArdServer.SendTcpCommand(e.Endpoint, "set.htbt", new string[] { "respond", "false" });
}
}
private void Server_TcpQueryReceived(IArdNetSystem Sender, RequestReceivedArgs e)
{
string answer = null;
string QryName = e.Request;
string[] QryArgs = e.RequestArgs;
switch (QryName)
{
case "name":
{
answer = System.Environment.MachineName;
break;
}
case "has.feat":
{
if (QryArgs.Length == 0)
{
break;
}
if (QryArgs[0] == "messaging")
{
answer = "true";
}
if (QryArgs[0] == "topics")
{
answer = "true";
}
break;
}
default:
{
Console.WriteLine(e.Request);
ArdServer.SendTcpQueryResponse(e, e.Request, e.RequestArgs);
return;
}
}
ArdServer.SendTcpQueryResponse(e, answer);
}
private void Server_TcpCommandReceived(IArdNetSystem Sender, RequestReceivedArgs e)
{
string status = null;
string CmdName = e.Request;
string[] CmdArgs = e.RequestArgs;
switch (CmdName)
{
//set heartbeat
case "set.htbt":
{
if (CmdArgs.Length != 2)
{
break;
}
var attributeName = CmdArgs[0];
var attributeValue = CmdArgs[1];
//set HeartBeat "respond to heartbeat"
if (attributeName == "respond")
{
if (bool.TryParse(attributeValue, out var boolVal))
{
e.ConnectedSystem.HeartbeatConfig.RespondToHeartbeats = boolVal;
status = "ok";
}
}
else if (attributeName == "interval")
{
if (int.TryParse(attributeValue, out var intVal))
{
e.ConnectedSystem.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(intVal);
status = "ok";
}
}
break;
}
//set device parameters
case "set.device":
{
if (CmdArgs.Length != 2)
{
break;
}
var attributeName = CmdArgs[0];
var attributeValue = CmdArgs[1];
//set power level
if (attributeName == "power")
{
if (attributeValue == "high")
{
//.1 sec htbt
e.ConnectedSystem.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(100);
status = "ok";
}
else if (attributeValue == "default")
{
//.25 sec htbt
e.ConnectedSystem.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(250);
status = "ok";
}
else if (attributeValue == "low")
{
//1 sec htbt
e.ConnectedSystem.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(1000);
status = "ok";
}
else if (attributeValue == "xlow")
{
//10 sec htbt
e.ConnectedSystem.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(10000);
status = "ok";
}
else if (attributeValue == "xxlow")
{
//1 min htbt
e.ConnectedSystem.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMinutes(1);
status = "ok";
}
else if (attributeValue == "xxxlow")
{
//no htbt
e.ConnectedSystem.HeartbeatConfig.ForceStrictHeartbeat = false;
status = "ok";
}
}
break;
}
//set text color
case "set.color":
{
if (CmdArgs.Length == 0)
{
break;
}
if (Enum.TryParse <ConsoleColor>(CmdArgs[0], out var color))
{
Console.ForegroundColor = color;
status = "ok";
}
break;
}
}
ArdServer.SendTcpCommandResponse(e, status);
}
/// <summary>
/// Create instance.
/// </summary>
/// <param name="ArdSys"></param>
public RangeFinderDelegate(IArdNetSystem ArdSys)
: base(ArdSys, Constants.ChannelNames.TankOperations.RangeFinder)
{
}
private void Server_ServerStarted(IArdNetSystem e)
{
Console.WriteLine("Server started @ " + e.NetConfig.LocalAddress);
}
private static void NanoClient_ServerDisconnected(IArdNetSystem Sender, ISystemEndpoint e)
{
_ = _serverMsgHandle.Reset();
Debug.WriteLine("ArdNet Disconnected");
_led.Off();
}
private static void ArdManager_TcpEndpointConnected(IArdNetSystem Sender, IConnectedSystemEndpoint e)
{
_ = _serverMsgHandle.Set();
Debug.WriteLine("ArdNet Connected");
_led.On();
}
private static void NanoClient_ServerDisconnected(IArdNetSystem Sender, ISystemEndpoint e)
{
_ = _serverMsgHandle.Reset();
}
/// <summary>
/// Create instance.
/// </summary>
/// <param name="ArdSys"></param>
public GunLoaderDelegate(IArdNetSystem ArdSys)
: base(ArdSys, Constants.ChannelNames.TankOperations.GunLoader)
{
}
/// <summary>
/// Create instance.
/// </summary>
/// <param name="ArdSys"></param>
public FireControlDelegate(IArdNetSystem ArdSys)
: base(ArdSys, Constants.ChannelNames.TankOperations.FireControl)
{
}
/// <summary>
/// Create instance.
/// </summary>
/// <param name="ArdSys"></param>
public NavigatorDelegate(IArdNetSystem ArdSys)
: base(ArdSys, Constants.ChannelNames.TankOperations.Navigator)
{
}
