private void UAS_Click(object sender, EventArgs e)
{
if (UAS_C == false)
{
UAS.Text = "Uncheck all Addons";
}
else
{
UAS.Text = "Check all Addons";
}
UAS.Refresh();
for (int i = 0; i < surv_addons.Items.Count; i++)
{
if (UAS_C == false)
{
surv_addons.SetItemCheckState(i, CheckState.Checked);
}
if (UAS_C == true)
{
surv_addons.SetItemCheckState(i, CheckState.Unchecked);
}
}
UAS_C = !UAS_C;
}
//public FileService FileService { get; set; }
//public UserService UserService { get; set; }
//public SubscriptionService SubscriptionService { get; set; }
public OmniCoreSession(Address ip, [Optional] UAS uas) : base(ip, uas)
{
Address = ip;
IsOmnicore = true;
TemplateUrl = "https://{0}/{1}";
AcceptHeader = "application/hal+json;v=2.0";
ContentTypeHeader = "application/x-www-form-urlencoded;v=2.0";
UAS = uas ?? new UAS("Default User", "robotics");
InitServices();
}
private async Task SocketThreadAsync(HttpClient client, string ip, Dictionary <string, string> httpContent, UAS uas, CancellationToken cancelToken)
{
//post that you want to subscribe on values
using (FormUrlEncodedContent fued = new FormUrlEncodedContent(httpContent))
{
var resp = await client.PostAsync(new Uri($"http://{ip}/subscription"), fued).ConfigureAwait(true);
resp.EnsureSuccessStatusCode();
//Get the ABB cookie, which will be used to connect to to the websocket
var header = resp.Headers.FirstOrDefault(p => p.Key == "Set-Cookie");
var val = header.Value.Last();
string abbCookie = val.Split('=')[1].Split(';')[0];
//Setup the websocket connection
using (ClientWebSocket wSock = new ClientWebSocket())
{
wSock.Options.Credentials = new NetworkCredential(uas.User, uas.Password);
wSock.Options.Proxy = null;
CookieContainer cc = new CookieContainer();
cc.Add(new Uri($"http://{ip}"), new Cookie("ABBCX", abbCookie, "/", ip));
wSock.Options.Cookies = cc;
wSock.Options.KeepAliveInterval = TimeSpan.FromMilliseconds(5000);
wSock.Options.AddSubProtocol("robapi2_subscription");
//Connect
await wSock.ConnectAsync(new Uri($"ws://{ip}/poll"), cancelToken).ConfigureAwait(true);
var bArr = new byte[1024];
ArraySegment <byte> arr = new ArraySegment <byte>(bArr);
SubscriptionSockets.Add(ValueChangedEventHandler, wSock);
while (ValueChangedEventHandler != null)
{
try
{
var res = await wSock.ReceiveAsync(arr, cancelToken).ConfigureAwait(true);
if (ValueChangedEventHandler == null)
{
break;
}
//parse message
var s = Encoding.ASCII.GetString(arr.Array);
s = s.Split(new string[] { "lvalue\">" }, StringSplitOptions.None)[1].Split('<')[0].Trim();
ValueChangedEventHandler(this, new IOEventArgs()
{
LValue = int.Parse(s, CultureInfo.InvariantCulture)
});
}
catch (Exception ex)
{
if (ex is WebSocketException && wSock.State == WebSocketState.Aborted)
{
break;
}
}
}
}
}
}
